diff --git a/python/ur_simple_control/optimal_control/.crocoddyl_mpc.py.swp b/python/ur_simple_control/optimal_control/.crocoddyl_mpc.py.swp
index 6cd696f6d4eab96ea05e9f6248c28ce6b8b91ccf..c17dbc853afbb73baf10fc8e0ad325f99980e80e 100644
Binary files a/python/ur_simple_control/optimal_control/.crocoddyl_mpc.py.swp and b/python/ur_simple_control/optimal_control/.crocoddyl_mpc.py.swp differ
diff --git a/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp b/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp
index 66611dacb8ead0c62400d66d3a0c15fbbddc7fd1..b627567f5f7baa20c97ef87c749e9283073497e2 100644
Binary files a/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp and b/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp differ
diff --git a/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py b/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
index 942dae2e67bb01c7d43e347023f94268b59beb93..5b61558c475d4b3719efbca8210232c95eeae414 100644
--- a/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
+++ b/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
@@ -516,7 +516,7 @@ def createBaseAndEEPathFollowingOCP(args, robot : RobotManager, x0):
                     # MASSIVE TODO: actually put in reference for left arm
                     path_ee[i],
                     state.nv)
-            l_eeTrackingCost = crocoddyl.CostModelResidual(state, eePoseResidual)
+            l_eeTrackingCost = crocoddyl.CostModelResidual(state, l_eePoseResidual)
             runningCostModel.addCost("l_ee_pose" + str(i), l_eeTrackingCost, args.ee_pose_cost)
             r_eePoseResidual = crocoddyl.ResidualModelFramePlacement(
                     state,
@@ -524,7 +524,7 @@ def createBaseAndEEPathFollowingOCP(args, robot : RobotManager, x0):
                     # MASSIVE TODO: actually put in reference for left arm
                     path_ee[i], 
                     state.nv)
-            r_eeTrackingCost = crocoddyl.CostModelResidual(state, eePoseResidual)
+            r_eeTrackingCost = crocoddyl.CostModelResidual(state, r_eePoseResidual)
             runningCostModel.addCost("r_ee_pose" + str(i), r_eeTrackingCost, args.ee_pose_cost)