diff --git a/src/controller.cpp b/src/controller.cpp
index 51066b9..fbadcc4 100644
--- a/src/controller.cpp
+++ b/src/controller.cpp
@@ -375,18 +375,6 @@ bool Controller::SwitchAvoidMode() {
     });
 }
 
-bool Controller::BodyHeight(float height) {
-    return ExecuteSportCmd([height](auto* sc) {
-        return sc->BodyHeight(height);
-    });
-}
-
-bool Controller::SwitchGait(int gait) {
-    return ExecuteSportCmd([gait](auto* sc) {
-        return sc->SwitchGait(gait);
-    });
-}
-
 bool Controller::TrajectoryFollow(const std::vector<std::array<float, 6>>& path) {
     // This function requires special handling as it needs to convert the path format
     // For now, we'll provide a basic implementation
@@ -397,11 +385,6 @@ bool Controller::TrajectoryFollow(const std::vector<std::array<float, 6>>& path)
     });
 }
 
-bool Controller::ContinuousGait(bool flag) {
-    return ExecuteSportCmd([flag](auto* sc) {
-        return sc->ContinuousGait(flag);
-    });
-}
 
 bool Controller::MoveToPos(float x, float y, float yaw) {
     return ExecuteSportCmd([x, y, yaw](auto* sc) {
@@ -424,12 +407,6 @@ bool Controller::FootRaiseHeight(float height) {
     });
 }
 
-bool Controller::Dance2() {
-    return ExecuteSportCmd([](auto* sc) {
-        return sc->Dance2();
-    });
-}
-