diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp
index 4438b4539dfae46e05155e37a5b377088c0317ec..9c4620c0d668826a8e54cfce968eb920e7683736 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 6019d843643333ec0e8bc39cb1fabdb2903e70cc..7523f9a41e02c73b4b8419d9339ff83d56d7c860 100644
--- a/python/examples/clik.py
+++ b/python/examples/clik.py
@@ -5,7 +5,7 @@ import pinocchio as pin
 import argcomplete, argparse
 from functools import partial
 from ur_simple_control.managers import getMinimalArgParser, ControlLoopManager, RobotManager
-from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL
+from ur_simple_control.clik.clik import getClikArgs, getClikController, controlLoopClik, moveL, compliantMoveL, moveLDualArm
 from ur_simple_control.util.define_random_goal import getRandomlyGeneratedGoal
 
 
diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
index 3a2910e7ffffed89116bbd36f515fd0e9b24f0e7..b5e7d7c6a7a8a2987f0b1ec5cf8236172454a81d 100644
Binary files a/python/ur_simple_control/.managers.py.swp and b/python/ur_simple_control/.managers.py.swp differ
diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index fdaaa3bfe1a9e0f578914e2f045727bfef18cea8..87f6fe7a219dfcff71eed6e2d96e7c425ee3acf1 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -281,8 +281,13 @@ class ControlLoopManager:
         if i % 20 == 0:
             # don't send what wasn't ready
             if self.args.visualize_manipulator:
-                self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
-                                                      "T_w_e" : self.robot_manager.getT_w_e()})
+                if self.robot_name != "yumi":
+                    self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
+                                                          "T_w_e" : self.robot_manager.getT_w_e()})
+                else self.robot_name != "yumi":
+                    T_w_e_left, T_w_e_right = self.robot_manager.getT_w_e()
+                    self.robot_manager.visualizer_manager.sendCommand({"q" : self.robot_manager.q,
+                                                          "T_w_e" : T_w_e_left})
                 if self.robot_manager.robot_name == "heron":
                     T_base = self.robot_manager.data.oMi[1]
                     self.robot_manager.visualizer_manager.sendCommand({"T_base" : T_base})