diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp
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diff --git a/python/ur_simple_control/.managers.py.swp b/python/ur_simple_control/.managers.py.swp
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index e12a3e0820c44510204d6fa502fa0c6198de9deb..0000000000000000000000000000000000000000
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diff --git a/python/ur_simple_control/clik/.clik.py.swp b/python/ur_simple_control/clik/.clik.py.swp
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diff --git a/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp b/python/ur_simple_control/optimal_control/.crocoddyl_optimal_control.py.swp
new file mode 100644
index 0000000000000000000000000000000000000000..a9bc0612533751805f146d6ed5daa83f8a7d0b2c
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diff --git a/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py b/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
index c7d2828b857f6c62dbc4e3fcb8ca9a3e3e497834..0e4588e9043336899d1e3d927866678d58224185 100644
--- a/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
+++ b/python/ur_simple_control/optimal_control/crocoddyl_optimal_control.py
@@ -449,7 +449,7 @@ def createBaseAndEEPathFollowingOCP(args, robot : RobotManager, x0):
     # and this should be 2 * model.nv the way things are defined here.
 
 
-    if robot.robot_name == "heron" or robot.robot_name == "heronros" or robot.robot_name == "mirros":
+    if robot.robot_name == "heron" or robot.robot_name == "heronros" or robot.robot_name == "mirros" or robot.robot_name == "yumi":
         xlb = xlb[1:]
         xub = xub[1:]
 
diff --git a/python/ur_simple_control/util/.get_model.py.swp b/python/ur_simple_control/util/.get_model.py.swp
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