diff --git a/examples/05-walk-these-ways-RL-controller.ipynb b/examples/05-walk-these-ways-RL-controller.ipynb
index 97ed4c4..8a75b9e 100644
--- a/examples/05-walk-these-ways-RL-controller.ipynb
+++ b/examples/05-walk-these-ways-RL-controller.ipynb
@@ -1,91 +1,5 @@
 {
  "cells": [
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "class walkTheseWaysController:\n",
-    "    def __init__(self, robot, remote, checkpoint):\n",
-    "        self.remote = remote\n",
-    "        self.robot = robot\n",
-    "        self.cfg = loadParameters(checkpoint)\n",
-    "        self.policy = Policy(checkpoint)\n",
-    "        self.command_profile = CommandInterface()\n",
-    "        self.agent = WalkTheseWaysAgent(self.cfg, self.command_profile, self.robot)\n",
-    "        self.agent = HistoryWrapper(self.agent)\n",
-    "        self.init()\n",
-    "\n",
-    "    def init(self):\n",
-    "        self.obs = self.agent.reset()\n",
-    "        self.policy_info = {}\n",
-    "        self.command_profile.yaw_vel_cmd = 0.0\n",
-    "        self.command_profile.x_vel_cmd = 0.0\n",
-    "        self.command_profile.y_vel_cmd = 0.0\n",
-    "        self.command_profile.stance_width_cmd=0.25\n",
-    "        self.command_profile.footswing_height_cmd=0.08\n",
-    "        self.command_profile.step_frequency_cmd = 3.0\n",
-    "        self.command_profile.bodyHeight = 0.00\n",
-    "\n",
-    "    def update(self, robot, remote):\n",
-    "        action = self.policy(self.obs, self.policy_info)\n",
-    "        self.obs, self.ret, self.done, self.info = self.agent.step(action)\n",
-    "        vy = -robot.getRemoteState().lx\n",
-    "        vx = robot.getRemoteState().ly\n",
-    "        omega = -robot.getRemoteState().rx*2.2\n",
-    "        self.command_profile.x_vel_cmd = vx*1.5\n",
-    "        self.command_profile.y_vel_cmd = vy*1.5\n",
-    "        self.command_profile.yaw_vel_cmd = omega"
-   ]
-  },
-  {
-   "cell_type": "code",
-   "execution_count": null,
-   "metadata": {},
-   "outputs": [],
-   "source": [
-    "class BaseRemote:\n",
-    "    def __init__(self):\n",
-    "        pass\n",
-    "    def startSeq(self):\n",
-    "        return False\n",
-    "    def standUpDownSeq(self):\n",
-    "        return False\n",
-    "\n",
-    "    def flushStates(self):\n",
-    "        pass\n",
-    "\n",
-    "    def getEstop(self):\n",
-    "        return False\n",
-    "\n",
-    "class UnitreeRemote(BaseRemote):\n",
-    "    def __init__(self, robot):\n",
-    "        self.robot = robot\n",
-    "\n",
-    "    def startSeq(self):\n",
-    "        remote = self.robot.getRemoteState()\n",
-    "        if remote.btn.start:\n",
-    "            return True\n",
-    "        else:\n",
-    "            return False\n",
-    "\n",
-    "    def standUpDownSeq(self):\n",
-    "        remote = self.robot.getRemoteState()\n",
-    "        if remote.btn.L2 and remote.btn.A:\n",
-    "            return True\n",
-    "        else:\n",
-    "            return False\n",
-    "\n",
-    "    def getEstop(self):\n",
-    "        remote = self.robot.getRemoteState()\n",
-    "        if remote.btn.L2 and remote.btn.R2:\n",
-    "            return True\n",
-    "        else:\n",
-    "            return False\n",
-    "        "
-   ]
-  },
   {
    "cell_type": "markdown",
    "metadata": {},
@@ -132,14 +46,37 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "controller.command_profile.pitch_cmd=0.0\n",
-    "controller.command_profile.body_height_cmd=0.0\n",
-    "controller.command_profile.footswing_height_cmd=0.08\n",
-    "controller.command_profile.roll_cmd=0.0\n",
-    "controller.command_profile.stance_width_cmd=0.2\n",
-    "controller.command_profile.x_vel_cmd=-0.2\n",
-    "controller.command_profile.y_vel_cmd=0.01\n",
-    "controller.command_profile.setGaitType(\"trotting\")"
+    "class walkTheseWaysController:\n",
+    "    def __init__(self, robot, remote, checkpoint):\n",
+    "        self.remote = remote\n",
+    "        self.robot = robot\n",
+    "        self.cfg = loadParameters(checkpoint)\n",
+    "        self.policy = Policy(checkpoint)\n",
+    "        self.command_profile = CommandInterface()\n",
+    "        self.agent = WalkTheseWaysAgent(self.cfg, self.command_profile, self.robot)\n",
+    "        self.agent = HistoryWrapper(self.agent)\n",
+    "        self.init()\n",
+    "\n",
+    "    def init(self):\n",
+    "        self.obs = self.agent.reset()\n",
+    "        self.policy_info = {}\n",
+    "        self.command_profile.yaw_vel_cmd = 0.0\n",
+    "        self.command_profile.x_vel_cmd = 0.0\n",
+    "        self.command_profile.y_vel_cmd = 0.0\n",
+    "        self.command_profile.stance_width_cmd=0.25\n",
+    "        self.command_profile.footswing_height_cmd=0.08\n",
+    "        self.command_profile.step_frequency_cmd = 3.0\n",
+    "        self.command_profile.bodyHeight = 0.00\n",
+    "\n",
+    "    def update(self, robot, remote):\n",
+    "        action = self.policy(self.obs, self.policy_info)\n",
+    "        self.obs, self.ret, self.done, self.info = self.agent.step(action)\n",
+    "        vy = -robot.getRemoteState().lx\n",
+    "        vx = robot.getRemoteState().ly\n",
+    "        omega = -robot.getRemoteState().rx*2.2\n",
+    "        self.command_profile.x_vel_cmd = vx*1.5\n",
+    "        self.command_profile.y_vel_cmd = vy*1.5\n",
+    "        self.command_profile.yaw_vel_cmd = omega"
    ]
   },
   {
@@ -153,6 +90,22 @@
     "fsm = FSM(robot, remote, safety_hypervisor, user_controller_callback=controller.update)"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "controller.command_profile.pitch_cmd=0.0\n",
+    "controller.command_profile.body_height_cmd=0.0\n",
+    "controller.command_profile.footswing_height_cmd=0.08\n",
+    "controller.command_profile.roll_cmd=0.0\n",
+    "controller.command_profile.stance_width_cmd=0.2\n",
+    "controller.command_profile.x_vel_cmd=-0.2\n",
+    "controller.command_profile.y_vel_cmd=0.01\n",
+    "controller.command_profile.setGaitType(\"trotting\")"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
@@ -176,7 +129,7 @@
    "outputs": [],
    "source": [
     "from Go2Py.robot.fsm import FSM\n",
-    "from Go2Py.robot.remote import KeyboardRemote\n",
+    "from Go2Py.robot.remote import UnitreeRemote\n",
     "from Go2Py.robot.safety import SafetyHypervisor\n",
     "from Go2Py.control.walk_these_ways import *"
    ]
@@ -187,7 +140,7 @@
    "metadata": {},
    "outputs": [],
    "source": [
-    "from Go2Py.robot.interface.dds import GO2Real\n",
+    "from Go2Py.robot.interface import GO2Real\n",
     "import numpy as np\n",
     "robot = GO2Real(mode='lowlevel')"
    ]
@@ -202,6 +155,45 @@
     "safety_hypervisor = SafetyHypervisor(robot)"
    ]
   },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "class walkTheseWaysController:\n",
+    "    def __init__(self, robot, remote, checkpoint):\n",
+    "        self.remote = remote\n",
+    "        self.robot = robot\n",
+    "        self.cfg = loadParameters(checkpoint)\n",
+    "        self.policy = Policy(checkpoint)\n",
+    "        self.command_profile = CommandInterface()\n",
+    "        self.agent = WalkTheseWaysAgent(self.cfg, self.command_profile, self.robot)\n",
+    "        self.agent = HistoryWrapper(self.agent)\n",
+    "        self.init()\n",
+    "\n",
+    "    def init(self):\n",
+    "        self.obs = self.agent.reset()\n",
+    "        self.policy_info = {}\n",
+    "        self.command_profile.yaw_vel_cmd = 0.0\n",
+    "        self.command_profile.x_vel_cmd = 0.0\n",
+    "        self.command_profile.y_vel_cmd = 0.0\n",
+    "        self.command_profile.stance_width_cmd=0.25\n",
+    "        self.command_profile.footswing_height_cmd=0.08\n",
+    "        self.command_profile.step_frequency_cmd = 3.0\n",
+    "        self.command_profile.bodyHeight = 0.00\n",
+    "\n",
+    "    def update(self, robot, remote):\n",
+    "        action = self.policy(self.obs, self.policy_info)\n",
+    "        self.obs, self.ret, self.done, self.info = self.agent.step(action)\n",
+    "        vy = -robot.getRemoteState().lx\n",
+    "        vx = robot.getRemoteState().ly\n",
+    "        omega = -robot.getRemoteState().rx*2.2\n",
+    "        self.command_profile.x_vel_cmd = vx*1.5\n",
+    "        self.command_profile.y_vel_cmd = vy*1.5\n",
+    "        self.command_profile.yaw_vel_cmd = omega"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,