diff --git a/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp b/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp
index 95681423..da65165e 100644
--- a/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp
+++ b/trajopt_optimizers/trajopt_sqp/src/trust_region_sqp_solver.cpp
@@ -383,6 +383,8 @@ SQPStatus TrustRegionSQPSolver::solveQPProblem()
   }
   else
   {
+    qp_problem->setVariables(results_.best_var_vals.data());
+
     CONSOLE_BRIDGE_logError("Solver Failure");
     return SQPStatus::QP_SOLVER_ERROR;
   }