diff --git a/python/quadruped_reactive_walking/main_solo12_control.py b/python/quadruped_reactive_walking/main_solo12_control.py
index b8e7b7a656e1880457a8243862d7c4fba7253ec4..fa6b02439b6a9f08cffb4e8f6633ec06885190e5 100644
--- a/python/quadruped_reactive_walking/main_solo12_control.py
+++ b/python/quadruped_reactive_walking/main_solo12_control.py
@@ -1,6 +1,6 @@
 import threading
 import time
-
+from pathlib import Path
 import numpy as np
 
 from . import quadruped_reactive_walking as qrw
@@ -270,7 +270,9 @@ def control_loop(des_vel_analysis=None):
         )
 
     if params.LOGGING:
-        loggerControl.saveAll(loggerSensors, "/home/odri/git/fanny/logs/data")
+        log_path = Path("/tmp") / "logs"
+        log_path.mkdir(parents=True)
+        loggerControl.saveAll(loggerSensors, str(log_path / "data"))
 
     if params.PLOTTING:
         loggerControl.plotAllGraphs(loggerSensors)
diff --git a/python/quadruped_reactive_walking/tools/LoggerControl.py b/python/quadruped_reactive_walking/tools/LoggerControl.py
index e7b4f5085ca0fc4ddf3329cc3d861f3e1af3ba8f..cec308d3e966055119ce55a35a5546fd179264a8 100644
--- a/python/quadruped_reactive_walking/tools/LoggerControl.py
+++ b/python/quadruped_reactive_walking/tools/LoggerControl.py
@@ -1,6 +1,7 @@
 """This class will log 1d array in Nd matrix from device and qualisys object"""
 from datetime import datetime
 from time import time
+from pathlib import Path
 
 import numpy as np
 import pinocchio as pin
@@ -329,7 +330,7 @@ class LoggerControl:
         if self.solo3d:
             self.update_mip[self.i] = controller.update_mip
             self.configs[self.i] = statePlanner.get_configurations()
-            self.initial_contacts[self.i] = controller.o_targetFootstep
+            self.initial_contacts[self.i] = controller.next_footstep
             self.t_mip[self.i] = controller.surfacePlanner.t_mip
         self.i += 1
 
@@ -1462,18 +1463,21 @@ class LoggerControl:
 
 
 if __name__ == "__main__":
-
-    import LoggerSensors
     import sys
     import os
+    import argparse
     import quadruped_reactive_walking as qrw
+    from quadruped_reactive_walking.tools import LoggerSensors
 
     sys.path.insert(0, os.getcwd())
 
-    file_name = "/home/odri/git/fanny/logs/data_2022_02_16_13_33_0.npz"
+    parser = argparse.ArgumentParser(description='Process logs.')
+    parser.add_argument('--file', type=str,
+                        help='A valid log file path')
+    args = parser.parse_args()
 
     params = qrw.Params()
-    logger = LoggerControl(params, loading=True, fileName=file_name)
+    logger = LoggerControl(params, loading=True, fileName=args.file)
 
     loggerSensors = LoggerSensors.LoggerSensors(logSize=logger.logSize)