diff --git a/python/ur_simple_control/clik/clik.py b/python/ur_simple_control/clik/clik.py
index 3f39f815e75df421ff5d4690fd7c7078ef2f8530..40511b816a6b68fd49a7add19b82cf4e14ae4b1e 100644
--- a/python/ur_simple_control/clik/clik.py
+++ b/python/ur_simple_control/clik/clik.py
@@ -194,6 +194,7 @@ def moveUntilContactControlLoop(args, robot : RobotManager, speed, clik_controll
     if np.linalg.norm(wrench[mask]) > args.contact_detecting_force:
         print("hit with", np.linalg.norm(wrench[mask]))
         breakFlag = True
+        robot.sendQd(np.zeros(robot.model.nq))
     if (args.pinocchio_only) and (i > 500):
         print("let's say you hit something lule")
         breakFlag = True
diff --git a/python/ur_simple_control/optimal_control/crocoddyl_mpc.py b/python/ur_simple_control/optimal_control/crocoddyl_mpc.py
index 940acd6e580c4e344c5f6b8b81d5421f88d3a7b3..9431fbecd8982616bf80dd736732ff76f7c8cc80 100644
--- a/python/ur_simple_control/optimal_control/crocoddyl_mpc.py
+++ b/python/ur_simple_control/optimal_control/crocoddyl_mpc.py
@@ -180,7 +180,7 @@ def CrocoPathFollowingMPC(args, robot, x0, path):
     controlLoop = partial(CrocoPathFollowingMPCControlLoop, args, robot, solver, path)
     log_item = {
             'qs' : np.zeros(robot.model.nq),
-            'dqs' : np.zeros(robot.model.nq)
+            'dqs' : np.zeros(robot.model.nv)
         }
     save_past_dict = {}
     loop_manager = ControlLoopManager(robot, controlLoop, args, save_past_dict, log_item)
diff --git a/python/ur_simple_control/util/__pycache__/get_model.cpython-312.pyc b/python/ur_simple_control/util/__pycache__/get_model.cpython-312.pyc
index 361d94f551ed5213c11d66ae7a950361e4d7f57f..2e7416863b44cbd0856cb8c0534e2a51249208a6 100644
Binary files a/python/ur_simple_control/util/__pycache__/get_model.cpython-312.pyc and b/python/ur_simple_control/util/__pycache__/get_model.cpython-312.pyc differ
diff --git a/python/ur_simple_control/util/get_model.py b/python/ur_simple_control/util/get_model.py
index 0a2f07581c7c4f6639fc45bcc5ec05a22fb9b7e8..c37f00000e7ae5a486d40bb552efe41910f077c0 100644
--- a/python/ur_simple_control/util/get_model.py
+++ b/python/ur_simple_control/util/get_model.py
@@ -194,11 +194,11 @@ def heron_approximation():
     # there are no position limit by default and that is what we want.
     # TODO: put in heron's values
     model_mobile_base.velocityLimit[0] = 2
-    model_mobile_base.velocityLimit[1] = 2
+    model_mobile_base.velocityLimit[1] = 0
     model_mobile_base.velocityLimit[2] = 2
     # TODO: i have literally no idea what reasonable numbers are here
     model_mobile_base.effortLimit[0] = 200
-    model_mobile_base.effortLimit[1] = 200
+    model_mobile_base.effortLimit[1] = 0
     model_mobile_base.effortLimit[2] = 200
     #print("OBJECT_JOINT_ID",OBJECT_JOINT_ID)
     #body_inertia = pin.Inertia.FromBox(args.box_mass, box_dimensions[0], 
diff --git a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc
index d892f4bb1b092ff28f489a8358275af98997021d..1def7147bf3b5c4ed1bfb7ca66479b3a5142b94a 100644
Binary files a/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc and b/python/ur_simple_control/visualize/__pycache__/visualize.cpython-312.pyc differ