diff --git a/hj_reachability/__init__.py b/hj_reachability/__init__.py
index 1a7c8d8..99625bb 100644
--- a/hj_reachability/__init__.py
+++ b/hj_reachability/__init__.py
@@ -10,7 +10,7 @@
 from hj_reachability.grid import Grid
 from hj_reachability.solver import SolverSettings, solve, step
 
-__version__ = "0.5.0"
+__version__ = "0.6.0"
 
 __all__ = ("ControlAndDisturbanceAffineDynamics", "Dynamics", "Grid", "SolverSettings", "artificial_dissipation",
            "boundary_conditions", "finite_differences", "sets", "solve", "solver", "step", "systems",
diff --git a/hj_reachability/dynamics.py b/hj_reachability/dynamics.py
index 1252e55..9073f1f 100644
--- a/hj_reachability/dynamics.py
+++ b/hj_reachability/dynamics.py
@@ -31,11 +31,11 @@ def optimal_control_and_disturbance(self, state, time, grad_value):
 
     def optimal_control(self, state, time, grad_value):
         """Computes the optimal control realized by the HJ PDE Hamiltonian."""
-        return self.optimal_control_and_disturbance(self, state, time, grad_value)[0]
+        return self.optimal_control_and_disturbance(state, time, grad_value)[0]
 
     def optimal_disturbance(self, state, time, grad_value):
         """Computes the optimal disturbance realized by the HJ PDE Hamiltonian."""
-        return self.optimal_control_and_disturbance(self, state, time, grad_value)[1]
+        return self.optimal_control_and_disturbance(state, time, grad_value)[1]
 
     def hamiltonian(self, state, time, value, grad_value):
         """Evaluates the HJ PDE Hamiltonian."""