diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index 1d1d16a15970ecbd5408a3c9a7c00e4830726092..e07c02c02d3ba4ba9ae6a7618c9139e84a4e2c43 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -96,13 +96,13 @@ class Controller:
 
         self.point_target = self.target.evaluate_in_t(1)[self.pd.rfFootId]
         try:
-            self.mpc.solve(self.k, m["x_m"], self.guess)  # Closed loop mpc
+            #self.mpc.solve(self.k, m["x_m"], self.guess)  # Closed loop mpc
 
             ## Trajectory tracking
-            #if self.initialized:
-            #   self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
-            #else:
-            #   self.mpc.solve(self.k, m["x_m"], self.guess)
+            if self.initialized:
+               self.mpc.solve(self.k, self.mpc_result.x[1], self.guess)
+            else:
+               self.mpc.solve(self.k, m["x_m"], self.guess)
 
              ### ONLY IF YOU WANT TO STORE THE FIRST SOLUTION TO WARMSTART THE INITIAL Problem ###
             #if not self.initialized: