diff --git a/scripts/Joystick.py b/scripts/Joystick.py
index 1ffd1aa320d9c7aca12ae178db571d650f2e2fc3..f12592fd3820ffe215bbcc6195f3362d94ddf5fe 100644
--- a/scripts/Joystick.py
+++ b/scripts/Joystick.py
@@ -201,13 +201,13 @@ class Joystick:
                                                 0.0, 0.0, 0.0, 0.0, R_max, R_max, 0.0, 0.0,
                                                 -R_max, 0.0])
             elif velID == 2:
-                self.t_switch = np.array([0, 14, 28, 40, 60])
-                self.v_switch = np.array([[0.0, 0.7, 1.3, 1.3, 1.3],
+                self.t_switch = np.array([0, 5, 8, 10, 12])
+                self.v_switch = np.array([[0.0, 0.8, 0.8, 0.8, 0.8  ],
                                          [0.0, 0.0, 0.0, 0.0, 0.0],
                                          [0.0, 0.0, 0.0, 0.0, 0.0],
                                          [0.0, 0.0, 0.0, 0.0, 0.0],
                                          [0.0, 0.0, 0.0, 0.0, 0.0],
-                                         [0.0, 0.0, 0.0, 0.0, 0.0]])
+                                         [0.0, 0., 1., 0., -1. ]])
             elif velID == 3:
                 self.t_switch = np.array([0, 2, 6, 8, 12, 60])
                 self.v_switch = np.array([[0.0, 0.0,  0.4, 0.4, 0.0, 0.0],
diff --git a/scripts/main_solo12_control.py b/scripts/main_solo12_control.py
index 321983edb8b4e628c95ec074f436935e6535d114..59e7eb9f65f59ccd6cb948af1d78e7a782fef05b 100644
--- a/scripts/main_solo12_control.py
+++ b/scripts/main_solo12_control.py
@@ -176,11 +176,11 @@ def control_loop(name_interface_clone=None, des_vel_analysis=None):
     t_log_whole = np.zeros((params.N_SIMULATION))
     k_log_whole = 0
     t_start_whole = 0.0
-    T_whole = time.clock()
+    T_whole = time.time()
     dT_whole = 0.0
     while ((not device.is_timeout) and (t < t_max) and (not controller.error)):
 
-        t_start_whole = time.clock()
+        t_start_whole = time.time()
 
         # Update sensor data (IMU, encoders, Motion capture)
         device.parse_sensor_data()
@@ -251,7 +251,7 @@ def control_loop(name_interface_clone=None, des_vel_analysis=None):
         t += params.dt_wbc  # Increment loop time
 
         dT_whole = T_whole
-        T_whole = time.clock()
+        T_whole = time.time()
         dT_whole = T_whole - dT_whole
 
         t_log_whole[k_log_whole] = t_end_whole - t_start_whole
diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index 5c9d455c7a673694f8972fd7b52245f81dc7537b..ca0cef1a7fde5144a13b9420897d3a9839a63f35 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -2,16 +2,16 @@ robot:
     # General parameters
     interface: enp2s0  # Name of the communication interface (check with ifconfig)
     SIMULATION: true  # Enable/disable PyBullet simulation or running on real robot
-    LOGGING: false  # Enable/disable logging during the experiment
-    PLOTTING: true  # Enable/disable automatic plotting at the end of the experiment
+    LOGGING: true  # Enable/disable logging during the experiment
+    PLOTTING: false  # Enable/disable automatic plotting at the end of the experiment
     envID: 0  # Identifier of the environment to choose in which one the simulation will happen
     use_flat_plane: true  # If True the ground is flat, otherwise it has bumps
     predefined_vel: true  # If we are using a predefined reference velocity (True) or a joystick (False)
-    velID: 3  # Identifier of the reference velocity profile to choose which one will be sent to the robot
-    N_SIMULATION: 15000  # Number of simulated wbc time steps
+    velID: 2  # Identifier of the reference velocity profile to choose which one will be sent to the robot
+    N_SIMULATION: 30000  # Number of simulated wbc time steps
     enable_pyb_GUI: true  # Enable/disable PyBullet GUI
     enable_corba_viewer: false  # Enable/disable Corba Viewer
-    enable_multiprocessing: true  # Enable/disable running the MPC in another process in parallel of the main loop
+    enable_multiprocessing: false  # Enable/disable running the MPC in another process in parallel of the main loop
     perfect_estimator: false  # Enable/disable perfect estimator by using data directly from PyBullet
     
     # General control parameters
@@ -22,7 +22,7 @@ robot:
     dt_mpc: 0.02  # Time step of the model predictive control
     T_gait: 0.48  # Duration of one gait period
     T_mpc: 0.48  # Duration of the prediction horizon
-    type_MPC: 0  # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
+    type_MPC: 1  # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
     kf_enabled: false  # Use complementary filter (False) or kalman filter (True) for the estimator 
     Kp_main: 6.0  # Proportional gains for the PD+
     Kd_main: 0.3  # Derivative gains for the PD+