diff --git a/include/controller.hpp b/include/controller.hpp
index 697e736..f8d8a51 100644
--- a/include/controller.hpp
+++ b/include/controller.hpp
@@ -64,7 +64,7 @@ private:
     
     std::unique_ptr<unitree::robot::go2::SportClient> sc_;
     std::unique_ptr<unitree::robot::go2::ObstaclesAvoidClient> oac_;
-    std::unique_ptr<unitree::robot::go2::MotionSwitcherClient> msc_;
+    std::unique_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
     
     std::atomic<bool> running_;
     std::atomic<bool> initialized_;