diff --git a/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp b/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
index 4e48a6028..f9e4d9873 100644
--- a/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
+++ b/bitbots_motion/bitbots_quintic_walk/src/walk_node.cpp
@@ -121,9 +121,6 @@ void WalkNode::run() {
       stabilizer_.reset();
     } else {
       // we don't want to walk, even if we have orders, if we are not in the right state
-      /* Our robots will soon^TM be able to sit down and stand up autonomously, when sitting down the motors are
-       * off but will turn on automatically which is why MOTOR_OFF is a valid walkable state. */
-      // TODO Figure out a better way than having integration knowledge that HCM will play an animation to stand up
       current_request_.walkable_state = robot_state_ == bitbots_msgs::msg::RobotControlState::CONTROLLABLE ||
                                         robot_state_ == bitbots_msgs::msg::RobotControlState::WALKING ||
                                         robot_state_ == bitbots_msgs::msg::RobotControlState::MOTOR_OFF;