diff --git a/config/walk_parameters.yaml b/config/walk_parameters.yaml
index 3fb5c80b9cc486a5c15d2eef5243660d4644b70e..5e1e0364e8fef4bd4dff38fc663dd045056f2360 100644
--- a/config/walk_parameters.yaml
+++ b/config/walk_parameters.yaml
@@ -25,7 +25,7 @@ robot:
     dt_mpc: 0.0014  # Time step of the model predictive control
     type_MPC: 3  # Which MPC solver you want to use: 0 for OSQP MPC, 1, 2, 3 for Crocoddyl MPCs
 #     Kp_main: [0.0, 0.0, 0.0]  # Proportional gains for the PD+
-    Kp_main: [3, 3, 3]  # Proportional gains for the PD+
+    Kp_main: [4, 4, 4]  # Proportional gains for the PD+
 #     Kd_main: [0., 0., 0.]  # Derivative gains for the PD+
     Kd_main: [0.3, 0.3, 0.3]  # Derivative gains for the PD+
 #     Kff_main: 0.0  # Feedforward torques multiplier for the PD+
diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 12f9b271b88587567c84b42a3026b78f0e072e13..50c62b496e8b353aa3ce4946709f4c306500a055 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -153,7 +153,7 @@ class Controller:
         if self.error:
             self.set_null_control()
 
-        self.pyb_camera(device)
+        # self.pyb_camera(device)
 
         self.t_loop = time.time() - t_start
         self.k += 1
diff --git a/python/quadruped_reactive_walking/WB_MPC/Target.py b/python/quadruped_reactive_walking/WB_MPC/Target.py
index 2a3b7f204d0ad6bdb76de80ae2c224c022cf22ab..fd209d26cb69df427677efbcad34e1af0bcab610 100644
--- a/python/quadruped_reactive_walking/WB_MPC/Target.py
+++ b/python/quadruped_reactive_walking/WB_MPC/Target.py
@@ -29,8 +29,8 @@ class Target:
         pin.updateFramePlacements(pd.model, pd.rdata)
         self.FR_foot0 = pd.rdata.oMf[pd.rfFootId].translation.copy()
         self.A = np.array([0, 0.03, 0.03])
-        self.offset = np.array([0.04, 0, 0.06])
-        self.freq = np.array([0, 0.5 * 0, 0.5 * 0])
+        self.offset = np.array([0.05, -0.02, 0.06])
+        self.freq = np.array([0, 0.5, 0.5])
         self.phase = np.array([0, np.pi / 2, 0])
 
     def patternToId(self, gait):