diff --git a/scripts/Controller.py b/scripts/Controller.py
index 93dae208ce7ef4be2c1f5ee1f8da599bfc2353c1..c9c2ec9ed4e0f33a01f43a7c80d1a4242f2454c2 100644
--- a/scripts/Controller.py
+++ b/scripts/Controller.py
@@ -106,9 +106,8 @@ class Controller:
         self.solo, self.fsteps_init, self.h_init = utils_mpc.init_robot(q_init, self.enable_gepetto_viewer)
 
         # Create Joystick, FootstepPlanner, Logger and Interface objects
-        self.joystick, self.logger, self.estimator = utils_mpc.init_objects(
-            dt_wbc, dt_mpc, N_SIMULATION, k_mpc, T_gait, type_MPC, predefined_vel, self.h_init, kf_enabled,
-            perfectEstimator)
+        self.joystick, self.estimator = utils_mpc.init_objects(
+            dt_wbc, N_SIMULATION, predefined_vel, self.h_init, kf_enabled, perfectEstimator)
 
         # Enable/Disable hybrid control
         self.enable_hybrid_control = True
@@ -127,8 +126,6 @@ class Controller:
         self.gait = lqrw.Gait()
         self.gait.initialize(dt_mpc, T_gait, T_mpc, N_gait)
 
-        """from IPython import embed
-        embed()"""
 
         shoulders = np.zeros((3, 4))
         shoulders[0, :] = [0.1946, 0.1946, -0.1946, -0.1946]
diff --git a/scripts/utils_mpc.py b/scripts/utils_mpc.py
index 0fea358d113e0ea237b3c7e728fe59e9d7e60f6f..108592f8fc707fba9c41f51603bfc2a30796443e 100644
--- a/scripts/utils_mpc.py
+++ b/scripts/utils_mpc.py
@@ -129,16 +129,12 @@ def init_robot(q_init, enable_viewer):
     return solo, fsteps_init, h_init
 
 
-def init_objects(dt_tsid, dt_mpc, k_max_loop, k_mpc, T_mpc, type_MPC, predefined, h_init, kf_enabled, perfectEstimator):
+def init_objects(dt_tsid, k_max_loop, predefined, h_init, kf_enabled, perfectEstimator):
     """Create several objects that are used in the control loop
 
     Args:
         dt_tsid (float): time step of TSID
-        dt_mpc (float): time step of the MPC
         k_max_loop (int): maximum number of iterations of the simulation
-        k_mpc (int): number of tsid iterations for one iteration of the mpc
-        T_mpc (float): duration of mpc prediction horizon
-        type_MPC (bool): which MPC you want to use (PA's or Thomas')
         predefined (bool): if we are using a predefined reference velocity (True) or a joystick (False)
         h_init (float): initial height of the robot base
         kf_enabled (bool): complementary filter (False) or kalman filter (True)
@@ -148,13 +144,10 @@ def init_objects(dt_tsid, dt_mpc, k_max_loop, k_mpc, T_mpc, type_MPC, predefined
     # Create Joystick object
     joystick = Joystick.Joystick(predefined)
 
-    # Create logger object
-    logger = Logger.Logger(k_max_loop, dt_tsid, dt_mpc, k_mpc, T_mpc, type_MPC)
-
     # Create Estimator object
     estimator = Estimator.Estimator(dt_tsid, k_max_loop, h_init, kf_enabled, perfectEstimator)
 
-    return joystick, logger, estimator
+    return joystick, estimator
 
 
 def display_all(solo, k, sequencer, fstep_planner, ftraj_gen, mpc):