diff --git a/invariants_py/calculate_invariants/rockit_calculate_vector_invariants_position_mj.py b/invariants_py/calculate_invariants/rockit_calculate_vector_invariants_position_mj.py
index 79552d1..115ecac 100644
--- a/invariants_py/calculate_invariants/rockit_calculate_vector_invariants_position_mj.py
+++ b/invariants_py/calculate_invariants/rockit_calculate_vector_invariants_position_mj.py
@@ -104,8 +104,9 @@ def __init__(self, window_len = 100, w_pos = 1, w_regul_jerk = 10**-5 , bool_uns
         # Solve already once with dummy measurements
         self.initialize_solver(window_len)
         if fatrop_solver:
-            self.ocp._method.set_option("print_level",0)
-            self.ocp._method.set_option("tol",1e-12)
+            self.ocp._method.set_option("print_level",print_level)
+            self.ocp._method.set_option("tol",tolerance)
+            self.ocp._method.set_option("max_iter",max_iter)
         self.first_window = True
         
         # Transform the whole OCP to a Casadi function