From b5742e7ddf770610c5614f72960000e59c4fac31 Mon Sep 17 00:00:00 2001
From: smb261-panda <grizzi@ethz.ch>
Date: Tue, 24 Jan 2023 15:38:41 +0100
Subject: [PATCH] Remove wholebody MPC in sim as it was not working reliably

---
 moma_mission/demo/piloting.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/moma_mission/demo/piloting.py b/moma_mission/demo/piloting.py
index 80edbe04..c557277b 100755
--- a/moma_mission/demo/piloting.py
+++ b/moma_mission/demo/piloting.py
@@ -95,9 +95,11 @@
             "REACH_DETECTION_HOTSPOT_FAR",
             NavigationState,
             transitions={
-                "Completed": "REACH_DETECTION_HOTSPOT_MEDIUM"
-                if not sim
-                else "REACH_DETECTION_HOTSPOT_CLOSE",
+                # Use wholebody controller in sim
+                # "Completed": "REACH_DETECTION_HOTSPOT_MEDIUM"
+                # if not sim
+                # else "REACH_DETECTION_HOTSPOT_CLOSE",
+                "Completed": "REACH_DETECTION_HOTSPOT_MEDIUM",
                 "Failure": "REACH_DETECTION_HOTSPOT_FAR",
             },
         )