diff --git a/scripts/Controller.py b/scripts/Controller.py
index 826382ea506ab7335b6c7047d2af38a7541b3990..08b5c36b397fc200a78d5a77e5b5bd1d26670ae0 100644
--- a/scripts/Controller.py
+++ b/scripts/Controller.py
@@ -283,10 +283,6 @@ class Controller:
 
         # Retrieve reference contact forces in horizontal frame
         self.x_f_mpc = self.mpc_wrapper.get_latest_result()
-        """if self.k == 0:
-            self.x_save = self.x_f_mpc[12:, :].copy()
-        else:
-            self.x_f_mpc[12:, :] = self.x_save.copy()"""
 
         t_mpc = time.time()
 
@@ -301,20 +297,6 @@ class Controller:
         # Update pos, vel and acc references for feet
         self.footTrajectoryGenerator.update(self.k, o_targetFootstep)
 
-        # Target state for the whole body control
-        self.x_f_wbc = (self.x_f_mpc[:24, 0]).copy()
-        if not self.gait.getIsStatic():
-            self.x_f_wbc[0] = self.dt_wbc * xref[6, 1]
-            self.x_f_wbc[1] = self.dt_wbc * xref[7, 1]
-            self.x_f_wbc[2] = self.h_ref
-            self.x_f_wbc[3] = 0.0
-            self.x_f_wbc[4] = 0.0
-            self.x_f_wbc[5] = self.dt_wbc * xref[11, 1]
-        else:  # Sort of position control to avoid slow drift
-            self.x_f_wbc[0:3] = self.planner.q_static[0:3, 0]  # TODO: Adapt to new code
-            self.x_f_wbc[3:6] = self.planner.RPY_static[:, 0]
-        self.x_f_wbc[6:12] = xref[6:, 1]
-
         # Whole Body Control
         # If nothing wrong happened yet in the WBC controller
         if (not self.error) and (not self.joystick.stop):
@@ -336,7 +318,7 @@ class Controller:
 
             # Run InvKin + WBC QP
             self.wbcWrapper.compute(self.q_wbc, self.b_v,
-                                    self.x_f_wbc[12:], np.array([cgait[0, :]]),
+                                    (self.x_f_mpc[12:24, 0]).copy(), np.array([cgait[0, :]]),
                                     self.feet_p_cmd,
                                     self.feet_v_cmd,
                                     self.feet_a_cmd)
diff --git a/scripts/LoggerControl.py b/scripts/LoggerControl.py
index 6a39d791806c43c2ec1abb2eb25904cbf5a94848..5ff6bb1a458016263cf319f4c416388f26d60a84 100644
--- a/scripts/LoggerControl.py
+++ b/scripts/LoggerControl.py
@@ -79,7 +79,6 @@ class LoggerControl():
                 self.mpc_x_f = np.zeros([logSize, 24, statePlanner.getNSteps()])
 
         # Whole body control
-        self.wbc_x_f = np.zeros([logSize, 24])  # input vector of the WBC (next state + reference contact force)
         self.wbc_P = np.zeros([logSize, 12])  # proportionnal gains of the PD+
         self.wbc_D = np.zeros([logSize, 12])  # derivative gains of the PD+
         self.wbc_q_des = np.zeros([logSize, 12])  # desired position of actuators
@@ -151,7 +150,6 @@ class LoggerControl():
         self.mpc_x_f[self.i] = loop.x_f_mpc
 
         # Logging from whole body control
-        self.wbc_x_f[self.i] = loop.x_f_wbc
         self.wbc_P[self.i] = loop.result.P
         self.wbc_D[self.i] = loop.result.D
         self.wbc_q_des[self.i] = loop.result.q_des
@@ -611,7 +609,6 @@ class LoggerControl():
 
                  mpc_x_f=self.mpc_x_f,
 
-                 wbc_x_f=self.wbc_x_f,
                  wbc_P=self.wbc_P,
                  wbc_D=self.wbc_D,
                  wbc_q_des=self.wbc_q_des,
@@ -696,7 +693,6 @@ class LoggerControl():
 
         self.mpc_x_f = data["mpc_x_f"]
 
-        self.wbc_x_f = data["wbc_x_f"]
         self.wbc_P = data["wbc_P"]
         self.wbc_D = data["wbc_D"]
         self.wbc_q_des = data["wbc_q_des"]