diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 7946a8fdd9bd5faf4af91f609e33a2d7ab8ebd2a..27b4ba043d0abd24e25e619610cf3380b373dd10 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -44,7 +44,7 @@ class DummyDevice:
         def __init__(self):
             self.positions = np.zeros(12)
             self.velocities = np.zeros(12)
-
+90
 
 class Controller:
     def __init__(self, pd, target, params, q_init, t):
@@ -103,15 +103,15 @@ class Controller:
         if self.k % int(self.params.dt_mpc/self.params.dt_wbc) == 0:
             try:
                 # Closed-loop
-                # self.mpc.solve(self.k, m["x_m"], self.xs_init, self.us_init)
+                self.mpc.solve(self.k, m["x_m"], self.xs_init, self.us_init)
 
                 # Trajectory tracking
-                if self.initialized:
-                    self.mpc.solve(
-                        self.k, self.mpc_result.xs[1], self.xs_init, self.us_init)
-                else:
-                    self.mpc.solve(self.k, m["x_m"],
-                                   self.xs_init, self.us_init)
+                # if self.initialized:
+                    # self.mpc.solve(
+                        # self.k, self.mpc_result.xs[1], self.xs_init, self.us_init)
+                # else:
+                    # self.mpc.solve(self.k, m["x_m"],
+                                #    self.xs_init, self.us_init)
             except ValueError:
                 self.error = True
                 print("MPC Problem")
diff --git a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
index 242d28f3d910e697ddf958daf05ae29af11b355f..8064e8058fd6e1b95b6c883009c5d9a731d1881f 100644
--- a/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
+++ b/python/quadruped_reactive_walking/WB_MPC/ProblemData.py
@@ -5,8 +5,7 @@ import pinocchio as pin
 class problemDataAbstract:
     def __init__(self, param, frozen_names = []):
         self.dt = param.dt_mpc # OCP dt
-        self.dt_sim = 0.001
-        self.dt_bldc = 0.0005
+        self.dt_sim = param.dt_wbc
         self.r1 = int(self.dt / self.dt_sim)
         self.init_steps = 0
         self.target_steps =  60
diff --git a/python/quadruped_reactive_walking/tools/LoggerControl.py b/python/quadruped_reactive_walking/tools/LoggerControl.py
index e26af77a0f947ccabddcd6838bf7148b012fceed..4f5afe391fc915605cc2423e16713a69a138931a 100644
--- a/python/quadruped_reactive_walking/tools/LoggerControl.py
+++ b/python/quadruped_reactive_walking/tools/LoggerControl.py
@@ -233,9 +233,9 @@ class LoggerControl:
             plt.savefig(fileName + "/target")
 
         self.plot_controller_times()
-        if not self.params.enable_multiprocessing:
-            self.plot_OCP_times()
-            self.plot_OCP_update_times()
+        # if not self.params.enable_multiprocessing:
+        #     self.plot_OCP_times()
+        #     self.plot_OCP_update_times()
 
         plt.show()