diff --git a/python/quadruped_reactive_walking/Controller.py b/python/quadruped_reactive_walking/Controller.py
index a9669d59b5369821eb259c63abc52030a60d5b19..0d03a2d600a484ba26630305a88baeb284c7a97a 100644
--- a/python/quadruped_reactive_walking/Controller.py
+++ b/python/quadruped_reactive_walking/Controller.py
@@ -92,13 +92,13 @@ class Controller:
         m = self.read_state(device)
 
         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)
 
         except ValueError:
             self.error = True