diff --git a/guided_mrmp/utils/robot.py b/guided_mrmp/utils/robot.py
index fd208c71d3bcfa939ba9083c6ee2196095c03da1..e717bbb133c385f24f5009e812ecb21e4e084bca 100644
--- a/guided_mrmp/utils/robot.py
+++ b/guided_mrmp/utils/robot.py
@@ -10,6 +10,8 @@ class Robot:
         self.current_position = start
         self.control = np.zeros(2)
         self.rrtpath = rrtpath
+        self.dynamics_model = dynamics_model
+        self.waypoints = waypoints
         
         self.next_step = None
         self.next_control = None