diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp
index 170a055deeb26d0d8c333e4a1a4337f2328b14a5..4438b4539dfae46e05155e37a5b377088c0317ec 100644
Binary files a/python/examples/.clik.py.swp and b/python/examples/.clik.py.swp differ
diff --git a/python/examples/clik.py b/python/examples/clik.py
index 5d728005134fec929b8099dadf6b6e21235d8804..6019d843643333ec0e8bc39cb1fabdb2903e70cc 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -31,7 +31,7 @@ if __name__ == "__main__":
     else:
         Mgoal = robot.defineGoalPointCLI()
     #compliantMoveL(args, robot, Mgoal)
-    if robot.robot_name != "yumi"
+    if robot.robot_name != "yumi":
         moveL(args, robot, Mgoal)
     else:
         goal_transform = pin.SE3.Identity()
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..5243d519843b3b34678e49de7524e8fd6cebf026
Binary files /dev/null and b/python/ur_simple_control/.managers.py.swp differ
diff --git a/python/ur_simple_control/clik/.clik.py.swp b/python/ur_simple_control/clik/.clik.py.swp
index af83ac7f5436cadd1f4a612479c3a2b4869838d2..893aed9a168188743745e8438a098b2ef32071be 100644
Binary files a/python/ur_simple_control/clik/.clik.py.swp and b/python/ur_simple_control/clik/.clik.py.swp differ
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index 1360ab9d4d3ffbcce64a81494774355bd3f909a1..00841aefb9d36b3f1a06370cb12603afef0f7f17 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -781,6 +781,8 @@ class RobotManager:
             pin.updateFramePlacement(self.model, self.data, self.r_ee_frame_id)
             self.T_w_e_left = self.data.oMf[self.l_ee_frame_id].copy()
             self.T_w_e_right = self.data.oMf[self.r_ee_frame_id].copy()
+            # NOTE: VERY EVIL, to bugfix things that depend on this like wrench (which we don't have on yumi)
+            self.T_w_e = self.data.oMf[self.l_ee_frame_id].copy()
 
     def _getQd(self):
         """