diff --git a/src/IK/include/BipedalLocomotion/IK/GravityTask.h b/src/IK/include/BipedalLocomotion/IK/GravityTask.h
index 0083d2bc23..5a0cf5af43 100644
--- a/src/IK/include/BipedalLocomotion/IK/GravityTask.h
+++ b/src/IK/include/BipedalLocomotion/IK/GravityTask.h
@@ -31,7 +31,7 @@ namespace IK
  * \begin{bmatrix}
  * 1 & 0 & 0 \\
  * 0 & 1 & 0
- * \end{bmatrix} J_\omega \nu = k \begin{bmatrix}
+ * \end{bmatrix} J_\omega \nu = -k \begin{bmatrix}
  * 0 &-1 & 0 \\
  * 1 & 0 & 0
  * \end{bmatrix} {} ^ W R_f {} ^ f g ^ * + {} ^ W R_f {} ^ f \omega_{ff}
diff --git a/src/IK/src/GravityTask.cpp b/src/IK/src/GravityTask.cpp
index 490241c8ce..ccfd446c8c 100644
--- a/src/IK/src/GravityTask.cpp
+++ b/src/IK/src/GravityTask.cpp
@@ -164,7 +164,7 @@ bool GravityTask::update()
     }
 
     toEigen(this->subA(m_robotVelocityVariable)) = m_Am * m_jacobian.bottomRows<3>();
-    m_b = m_kp * m_bm * desiredZDirectionAbsolute + feedforwardAbsolute.topRows<2>();
+    m_b = -m_kp * m_bm * desiredZDirectionAbsolute + feedforwardAbsolute.topRows<2>();
 
     m_isValid = true;
     return m_isValid;
diff --git a/src/IK/tests/GravityTaskTest.cpp b/src/IK/tests/GravityTaskTest.cpp
index de79deff63..34ae776995 100644
--- a/src/IK/tests/GravityTaskTest.cpp
+++ b/src/IK/tests/GravityTaskTest.cpp
@@ -124,8 +124,8 @@ TEST_CASE("Distance task")
             Eigen::Vector3d axisAbsolute, feedforwardAbsolute;
             axisAbsolute = targetRotation * desiredDirection;
             feedforwardAbsolute = targetRotation * feedforward;
-            expectedB(0) = -kp * axisAbsolute(1) + feedforwardAbsolute(0);
-            expectedB(1) = kp * axisAbsolute(0) + feedforwardAbsolute(1);
+            expectedB(0) = kp * axisAbsolute(1) + feedforwardAbsolute(0);
+            expectedB(1) = -kp * axisAbsolute(0) + feedforwardAbsolute(1);
             REQUIRE(b.isApprox(expectedB));
         }
     }
diff --git a/src/IK/tests/QPInverseKinematicsTest.cpp b/src/IK/tests/QPInverseKinematicsTest.cpp
index 814bf5812a..5f08195af0 100644
--- a/src/IK/tests/QPInverseKinematicsTest.cpp
+++ b/src/IK/tests/QPInverseKinematicsTest.cpp
@@ -131,7 +131,7 @@ std::shared_ptr<IParametersHandler> createParameterHandler()
     auto distanceTaskHandler = std::make_shared<StdImplementation>();
     distanceTaskHandler->setParameter("robot_velocity_variable_name", robotVelocity);
     distanceTaskHandler->setParameter("type", "DistanceTask");
-    distanceTaskHandler->setParameter("priority", 1);
+    distanceTaskHandler->setParameter("priority", 0);
     distanceTaskHandler->setParameter("kp", gain);
     Eigen::VectorXd distanceWeight(1);
     distanceWeight << additionalTasksWeight;
@@ -142,7 +142,7 @@ std::shared_ptr<IParametersHandler> createParameterHandler()
     auto gravityTaskHandler = std::make_shared<StdImplementation>();
     gravityTaskHandler->setParameter("robot_velocity_variable_name", robotVelocity);
     gravityTaskHandler->setParameter("type", "GravityTask");
-    gravityTaskHandler->setParameter("priority", 1);
+    gravityTaskHandler->setParameter("priority", 0);
     gravityTaskHandler->setParameter("kp", gain);
     const Eigen::Vector2d gravityWeight = additionalTasksWeight * Eigen::Vector2d::Ones();
     gravityTaskHandler->setParameter("weight", gravityWeight);
@@ -233,13 +233,13 @@ InverseKinematicsAndTasks createIK(std::shared_ptr<IParametersHandler> handler,
     REQUIRE(out.distanceTask->setKinDyn(kinDyn));
     REQUIRE(out.distanceTask->initialize(handler->getGroup("DISTANCE_TASK")));
     REQUIRE(handler->getGroup("DISTANCE_TASK").lock()->getParameter("weight", distanceWeight));
-    REQUIRE(out.ik->addTask(out.distanceTask, "distance_task", lowPriority, distanceWeight));
+    REQUIRE(out.ik->addTask(out.distanceTask, "distance_task", highPriority, distanceWeight));
 
     out.gravityTask = std::make_shared<GravityTask>();
     REQUIRE(out.gravityTask->setKinDyn(kinDyn));
     REQUIRE(out.gravityTask->initialize(handler->getGroup("GRAVITY_TASK")));
     REQUIRE(handler->getGroup("GRAVITY_TASK").lock()->getParameter("weight", gravityWeight));
-    REQUIRE(out.ik->addTask(out.gravityTask, "gravity_task", lowPriority, gravityWeight));
+    REQUIRE(out.ik->addTask(out.gravityTask, "gravity_task", highPriority, gravityWeight));
 
     REQUIRE(out.ik->finalize(variables));