diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 47da087eb05b5a9cb973435400b0d5da45c44d0e..aee580d8bb286581b6269cea765f3b620d904a67 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -237,6 +237,10 @@ class Controller:
 
             self.get_base_targets(reference_state, hRb)
 
+            self.base_targets[6] = reference_state[6, 1]
+            self.base_targets[8] = reference_state[8, 1]
+            # self.base_targets[8] = self.mpc_result[8, 0]
+
             self.get_feet_targets(reference_state, oRh, oTh, hRb)
 
             self.q_wbc[3:5] = self.q_filtered[3:5]