diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
index 5243d519843b3b34678e49de7524e8fd6cebf026..3a2910e7ffffed89116bbd36f515fd0e9b24f0e7 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 00841aefb9d36b3f1a06370cb12603afef0f7f17..fdaaa3bfe1a9e0f578914e2f045727bfef18cea8 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -782,7 +782,7 @@ class RobotManager:
             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()
+            #self.T_w_e = self.data.oMf[self.l_ee_frame_id].copy()
 
     def _getQd(self):
         """
@@ -841,19 +841,22 @@ class RobotManager:
 
 
     def _getWrenchInEE(self, step_called=False):
-        if not self.pinocchio_only:
-            self.wrench = np.array(self.rtde_receive.getActualTCPForce()) - self.wrench_offset
+        if self.robot_name != "yumi":
+            if not self.pinocchio_only:
+                self.wrench = np.array(self.rtde_receive.getActualTCPForce()) - self.wrench_offset
+            else:
+                # TODO: do something better here (at least a better distribution)
+                self.wrench = np.random.random(self.n_arm_joints)
+            if not step_called:
+                self._getT_w_e()
+            # NOTE: this mapping is equivalent to having a purely rotational action 
+            # this is more transparent tho
+            mapping = np.zeros((6,6))
+            mapping[0:3, 0:3] = self.T_w_e.rotation
+            mapping[3:6, 3:6] = self.T_w_e.rotation
+            self.wrench = mapping.T @ self.wrench
         else:
-            # TODO: do something better here (at least a better distribution)
-            self.wrench = np.random.random(self.n_arm_joints)
-        if not step_called:
-            self._getT_w_e()
-        # NOTE: this mapping is equivalent to having a purely rotational action 
-        # this is more transparent tho
-        mapping = np.zeros((6,6))
-        mapping[0:3, 0:3] = self.T_w_e.rotation
-        mapping[3:6, 3:6] = self.T_w_e.rotation
-        self.wrench = mapping.T @ self.wrench
+            self.wrench = np.zeros(6)
 
     def sendQd(self, qd):
         """