diff --git a/remote_control/mpc_test.py b/remote_control/mpc_test.py
index 4dab0be..2bfad3a 100644
--- a/remote_control/mpc_test.py
+++ b/remote_control/mpc_test.py
@@ -7,12 +7,13 @@ from robot import Robot
 
 from mpc_controller import MPCController
 
-import opencv_viewer_example
+from aruco_estimator import ArucoEstimator
 
 
 class RemoteController:
     def __init__(self):
-        self.robots = [Robot(12, '192.168.1.12')]
+        self.robots = []
+        #self.robots = [Robot(11, '192.168.1.11'), Robot(13, '192.168.1.13'), Robot(14, '192.168.1.14')]
 
         self.robot_ids = {}
         for r in self.robots:
@@ -31,7 +32,7 @@ class RemoteController:
         self.t = time.time()
 
         # start thread for marker position detection
-        self.estimator = opencv_viewer_example.ArucoEstimator(self.robot_ids.keys())
+        self.estimator = ArucoEstimator(self.robot_ids.keys())
         self.estimator_thread = threading.Thread(target=self.estimator.run_tracking)
         self.estimator_thread.start()