fix ur5_reach.py

Simple-Robotics · Nov 16, 2024 · dd457e3 · dd457e3
1 parent 241ce0f
commit dd457e3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/examples/ur5_reach.py b/examples/ur5_reach.py
@@ -125,7 +125,7 @@ def computeQuasistatic(model: pin.Model, x0, a):
 solver.sa_strategy = aligator.SA_LINESEARCH
 if args.fddp:
     solver = aligator.SolverFDDP(tol, verbose, max_iters=max_iters)
-cb = aligator.HistoryCallback()
+cb = aligator.HistoryCallback(solver)
 solver.registerCallback("his", cb)
 solver.setup(problem)
 solver.run(problem, init_xs, init_us)