diff --git a/include/qrw/MPC.hpp b/include/qrw/MPC.hpp
index ba91198ca2c3ad93d282c8597df8d68ddad086d0..5bab3bc8cb0e8a73592a5f2ccdaa2f4a3d056830 100644
--- a/include/qrw/MPC.hpp
+++ b/include/qrw/MPC.hpp
@@ -249,17 +249,17 @@ class MPC {
   // TODO FOR S ????
 
   // Matrix NK
-  const static int size_nz_NK = 5000;
+  const static int size_nz_NK = 15000;
   double v_NK_up[size_nz_NK] = {};   // maxtrix NK (upper bound)
   double v_NK_low[size_nz_NK] = {};  // maxtrix NK (lower bound)
   double v_warmxf[size_nz_NK] = {};  // maxtrix NK (lower bound)
 
   // Matrix P
-  const static int size_nz_P = 5000;
+  const static int size_nz_P = 15000;
   csc *P;  // Compressed Sparse Column matrix
 
   // Matrix Q
-  const static int size_nz_Q = 5000;
+  const static int size_nz_Q = 15000;
   double Q[size_nz_Q] = {};  // Q is full of zeros
 
   // OSQP solver variables
diff --git a/scripts/main_solo12_control.py b/scripts/main_solo12_control.py
index c86c606cf57fb2ded47e19f8aff1a9354a51b6b3..e7a118c09ccd2c69b4e3a8135ad888d05d4434fb 100644
--- a/scripts/main_solo12_control.py
+++ b/scripts/main_solo12_control.py
@@ -51,6 +51,15 @@ def put_on_the_floor(device, q_init):
         device.parse_sensor_data()
         device.send_command_and_wait_end_of_cycle(params.dt_wbc)
     
+    # Slow increase till 1/4th of mass is supported by each foot
+    duration_increase = 2.0;  # in seconds
+    steps = int(duration_increase / params.dt_wbc)
+    tau_ff = np.array([0.0, 0.022, 0.5, 0.0, 0.022, 0.5, 0.0, 0.025, 0.575, 0.0, 0.025, 0.575])
+    for i in range(steps):
+        device.joints.set_torques(tau_ff * i / steps)
+        device.parse_sensor_data()
+        device.send_command_and_wait_end_of_cycle(params.dt_wbc)
+
     print("Start the motion.")
 
 
@@ -375,7 +384,7 @@ def main():
                         help='Name of the clone interface that will reproduce the movement of the first one \
                               (use ifconfig in a terminal), for instance "enp1s0"')
 
-    # os.nice(-20)  #  Set the process to highest priority (from -20 highest to +20 lowest)
+    os.nice(-20)  #  Set the process to highest priority (from -20 highest to +20 lowest)
     f, v = control_loop(parser.parse_args().clone)  # , np.array([1.5, 0.0, 0.0, 0.0, 0.0, 0.0]))
     print(f, v)
     quit()