diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 680a689af7902051c0887ab5d327e4113e5e568f..c3a6a5399ae8ab3aa707b1570e97850857f67e1f 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -92,13 +92,13 @@ class Controller:
         m = self.read_state(device)
 
         try:
-            self.mpc.solve(self.k, m['x_m'], self.guess) # Closed loop mpc
+            #self.mpc.solve(self.k, m['x_m'], self.guess) # Closed loop mpc
 
             # Trajectory tracking
-            #if self.initialized:
-            #    self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
-            #else:
-            #    self.mpc.solve(self.k, m["x_m"], self.guess)
+            if self.initialized:
+                self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
+            else:
+                self.mpc.solve(self.k, m["x_m"], self.guess)
 
         except ValueError:
             self.error = True
diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index af600e9d65da0bebfb5ca17068b84345fbdb9a86..93f4f8551246a8d68d7257a027687c61b1fa5fcf 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/python/quadruped_reactive_walking/main_solo12_control.py
@@ -191,7 +191,7 @@ def control_loop():
             device.joints.set_velocity_gains(controller.result.D)
             device.joints.set_desired_positions(controller.result.q_des)
             device.joints.set_desired_velocities(controller.result.v_des)
-            device.joints.set_torques(controller.result.FF)
+            #device.joints.set_torques(controller.result.FF)
             device.send_command_and_wait_end_of_cycle(params.dt_wbc)
 
         if params.LOGGING or params.PLOTTING: