diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 961e673184bc4016a34446a4189a9974a5e813be..1d1d16a15970ecbd5408a3c9a7c00e4830726092 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -122,7 +122,7 @@ class Controller:
             # self.result.P = np.array(self.params.Kp_main.tolist() * 4)
             self.result.P = np.array([5] * 3 + [1] * 3 + [5] * 6)
             # self.result.D = np.array(self.params.Kd_main.tolist() * 4)
-            self.result.D = np.array([0.3] * 3 + [0.5] * 3 + [0.3] * 6)
+            self.result.D = np.array([0.3] * 3 + [0.01] * 3 + [0.3] * 6)
             tauFF = self.mpc_result.u[0]
             self.result.FF = self.params.Kff_main * np.array(
                 [0] * 3 + list(tauFF) + [0] * 6
@@ -185,7 +185,7 @@ class Controller:
             elif (np.abs(m["vj_m"]) > 1000 * np.pi / 180).any():
                 print("-- VELOCITY TOO HIGH ERROR --")
                 print(m["vj_m"])
-                print(np.abs(m["vj_m"]) > 500 * np.pi / 180)
+                print(np.abs(m["vj_m"]) > 1000 * np.pi / 180)
                 self.error = True
             elif (np.abs(self.result.FF) > 3.2).any():
                 print("-- FEEDFORWARD TORQUES TOO HIGH ERROR --")
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index 3c44ceaf8cb320e212c6fdc2410a0a89ff2e2abe..a7c25043d53a8f0e586441fc1e0d407c49bec70e 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -117,7 +117,7 @@ class ProblemDataFull(problemDataAbstract):
         #self.friction_cone_w = 1e3 * 0
         self.control_bound_w = 1e3
         self.control_reg_w = 1e0
-        self.state_reg_w = np.array([1e-3] * 3 + [2*1e-1]*3)
+        self.state_reg_w = np.array([1e-5] * 3 + [ 3* 1e-1]*3)
         self.terminal_velocity_w = np.array([0] * 3 + [1e3] * 3 )
 
         self.q0_reduced = self.q0[10:13]
diff --git a/python/quadruped_reactive_walking/WB_MPC/Target.py b/python/quadruped_reactive_walking/WB_MPC/Target.py
index 881e081f7ebe8a14845ffc4af599e4d95291f989..f86a80afa26837ac6f6ab4391686bf843c804a38 100644
--- a/python/quadruped_reactive_walking/WB_MPC/Target.py
+++ b/python/quadruped_reactive_walking/WB_MPC/Target.py
@@ -29,9 +29,9 @@ class Target:
         pin.updateFramePlacements(pd.model, pd.rdata)
         self.FR_foot0 = pd.rdata.oMf[pd.rfFootId].translation.copy()
         self.A = np.array([0, 0.03, 0.03])
-        self.offset = np.array([0.08, 0, 0.06])
-        self.freq = np.array([0, 1, 1])
-        self.phase = np.array([0, 0, np.pi / 2])
+        self.offset = np.array([0.04, 0, 0.06])
+        self.freq = np.array([0, 0.5, 0.5])
+        self.phase = np.array([0, np.pi / 2, 0])
 
     def patternToId(self, gait):
         return tuple(self.pd.allContactIds[i] for i, c in enumerate(gait) if c == 1)