diff --git a/src/build/params.h b/src/build/params.h
index 0245f6e..b790dc4 100644
--- a/src/build/params.h
+++ b/src/build/params.h
@@ -39,7 +39,7 @@ struct ActuatorParameters {
     , kM               ( rnd(motor_parameter::kM     , perc, var) )
     , R_i_inv          ( rnd(motor_parameter::R_i_inv, perc, var) )
     {
-        dsPrint("Using randomized actuator parameters by %1.2f %% and %1.3f variation", perc*100, var);
+        dsPrint("Using randomized actuator parameters by %1.2f %% variation", perc * 100 * var);
         assert (perc >= 0. and perc <= 0.33);
         assert (var  >= 0. and var  <= 1.00);
         /* Sticktion must be greater than coulomb friction. This is guarantied up to a range of 33%*/
diff --git a/src/controller/tcp_controller.cpp b/src/controller/tcp_controller.cpp
index 8047a56..c61b4f0 100644
--- a/src/controller/tcp_controller.cpp
+++ b/src/controller/tcp_controller.cpp
@@ -413,7 +413,7 @@ bool TCPController::parse_update_model_command(const char* msg)
     unsigned rnd_instance = 0;
     double rnd_amp = .0;
 
-    if (2 == sscanf(msg, " %d %u %lf", &new_model_id, &rnd_instance, &rnd_amp)
+    if (3 == sscanf(msg, " %d %u %lf", &new_model_id, &rnd_instance, &rnd_amp)
     or  1 == sscanf(msg, " %d"       , &new_model_id /*no instance*/))
     {
         robot.destroy();
diff --git a/src/robots/hannah_random.h b/src/robots/hannah_random.h
index bc02383..b2ab851 100644
--- a/src/robots/hannah_random.h
+++ b/src/robots/hannah_random.h
@@ -70,7 +70,7 @@ namespace HannahRand {
         , weight_kg({rnd(3.040, range, amp)  /**TODO specify */
                    , rnd(0.100, range, amp)  /**TODO specify */
                    , rnd(0.615, range, amp)  /**TODO specify */
-                   , rnd(0.200, range, amp)  /**TODO specify */
+                   , rnd(0.200, range, amp)  /**TODO specify, make the real leg weight more, in order to back-drive */
                    })
         , torque( rnd(5.0, range, amp) )
         , color_body ( rnd(.5, 1.0, amp), rnd(.5, 1.0, amp), rnd(.5, 1.0, amp), 1.0 )