diff --git a/examples/solo_bend.py b/examples/solo_bend.py
index fe617391a..9dfc5cd2c 100644
--- a/examples/solo_bend.py
+++ b/examples/solo_bend.py
@@ -70,7 +70,7 @@ def update_target(sphere, x):
 
 
 # Define cost functions
-base_weight = 0.5
+base_weight = 2.0
 w_xreg = np.diag([1e-3] * nv + [1e-3] * nv)
 w_xreg[range(3), range(3)] = base_weight
 
@@ -108,7 +108,8 @@ def main():
 
     problem = aligator.TrajOptProblem(x0, stages, term_cost)
 
-    solver = aligator.SolverProxDDP(1e-3, 1e-4, verbose=aligator.VERBOSE)
+    mu_init = 1e-2
+    solver = aligator.SolverProxDDP(1e-3, mu_init, verbose=aligator.VERBOSE)
     solver.reg_init = 1e-8
     solver.setup(problem)
     flag = solver.run(problem, xs_i, us_i)
diff --git a/include/aligator/solvers/proxddp/solver-proxddp.hxx b/include/aligator/solvers/proxddp/solver-proxddp.hxx
index 1400850ec..a4bed036e 100644
--- a/include/aligator/solvers/proxddp/solver-proxddp.hxx
+++ b/include/aligator/solvers/proxddp/solver-proxddp.hxx
@@ -223,7 +223,7 @@ void SolverProxDDPTpl<Scalar>::computeMultipliers(
     lams_plus[i + 1] = lams_prev[i + 1] + dd.value_ / mudyn();
     lams_pdal[i + 1] = 2 * lams_plus[i + 1] - lams[i + 1];
     Lds[i + 1] = mudyn() * (lams_plus[i + 1] - lams[i + 1]);
-    ALIGATOR_RAISE_IF_NAN(Lds[i + 1]);
+    ALIGATOR_RAISE_IF_NAN_NAME(Lds[i + 1], fmt::format("Lds[{:d}]", i + 1));
 
     // 2. use product constraint operator
     // to compute the new multiplier estimates