diff --git a/src/config_solo12.yaml b/src/config_solo12.yaml
index 81c981130c935ddabf2840134bccf559ca136780..8174253b4a7f5e31a559b6c1f9bbef919c2f2577 100644
--- a/src/config_solo12.yaml
+++ b/src/config_solo12.yaml
@@ -11,7 +11,7 @@ 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: false  # Enable/disable running the MPC in another process in parallel of the main loop
+    enable_multiprocessing: true  # 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
@@ -47,10 +47,10 @@ robot:
     # Parameters of InvKin
     Kp_flyingfeet: 100.0  # Proportional gain for feet position tasks
     Kd_flyingfeet: 10.0  # Derivative gain for feet position tasks
-    Kp_base_position: [1000.0, 1000.0, 1000.0]  # Proportional gains for the base position task
-    Kd_base_position: [100.0, 100.0, 100.0]  # Derivative gains for the base position task
-    Kp_base_orientation: [1000.0, 1000.0, 1000.0]  # Proportional gains for the base orientation task
-    Kd_base_orientation: [100.0, 100.0, 100.0]  # Derivative gains for the base orientation task
+    Kp_base_position: [100.0, 100.0, 100.0]  # Proportional gains for the base position task
+    Kd_base_position: [10.0, 10.0, 10.0]  # Derivative gains for the base position task
+    Kp_base_orientation: [100.0, 100.0, 100.0]  # Proportional gains for the base orientation task
+    Kd_base_orientation: [10.0, 10.0, 10.0]  # Derivative gains for the base orientation task
     w_tasks: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]  # Tasks weights: [feet/base, vx, vy, vz, roll+wroll, pitch+wpitch, wyaw]
 
     # Parameters of WBC QP problem