diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 5f6fb44fa53cb2d8fca27ec05f4aab6a1f790695..361c2959c470c3e702942a919f3a6f03a4e5803b 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -8,6 +8,7 @@ from . import ContactDetector, MPC_Wrapper, quadruped_reactive_walking as qrw
 from .solo3D.utils import quaternionToRPY
 from .tools.utils_mpc import init_robot
 
+new_data = []
 
 class Result:
     """
@@ -282,6 +283,31 @@ class Controller:
             self.result.v_des = self.wbcWrapper.vdes
             self.result.tau_ff = self.wbcWrapper.tau_ff
 
+        """new_data.append(str(self.k))
+        new_data.append(self.q.ravel())
+        new_data.append(self.q_filtered[:6].ravel().copy())
+        new_data.append(self.h_v_filtered.ravel().copy())
+        new_data.append(self.vref_filtered.ravel().copy())
+        new_data.append(reference_state[:, 0].copy())
+        new_data.append(footsteps[0, :].copy())
+        new_data.append("p_cmd")
+        new_data.append(self.feet_p_cmd.copy())
+        new_data.append(self.feet_v_cmd.copy())
+        new_data.append(self.feet_a_cmd.copy())
+        new_data.append(self.q_wbc.copy())
+        new_data.append(self.dq_wbc.copy())
+        new_data.append(self.mpc_result[12:24, 0].copy())
+        new_data.append("result")
+        new_data.append(self.result.q_des[:].copy())
+        new_data.append(self.result.v_des[:].copy())
+        new_data.append(self.result.tau_ff[:].copy())
+        new_data.append(self.base_targets.ravel().copy())
+        
+        if self.k > 5:
+            np.savez("/home/odri/git/paleziart/compare_performances/new_data.npz", new_data)
+            from IPython import embed
+            embed()"""
+
         self.t_wbc = time.time() - t_mpc
 
         self.clamp_result(device)