diff --git a/python/ur_simple_control/managers.py b/python/ur_simple_control/managers.py
index f3e8679282daff02ff39d10f0920870e402db2a6..a9cd4475810cc6f52fc7cc8824e87f510b381b3d 100644
--- a/python/ur_simple_control/managers.py
+++ b/python/ur_simple_control/managers.py
@@ -456,6 +456,14 @@ class RobotManager:
         # so that the control designer doesn't need to think about such bs
         #self.JOINT_ID = 6
         self.ee_frame_id = self.model.getFrameId("tool0")
+        if self.robot_name == "yumi":
+            self.r_ee_frame_id = self.model.getFrameId("robr_joint_7")
+            self.l_ee_frame_id = self.model.getFrameId("robl_joint_7")
+            # JUST FOR TEST
+            # NOTE 
+            # NOTE 
+            # NOTE 
+            self.ee_frame_id = self.model.getFrameId("robr_joint_7")
         #self.ee_frame_id = self.model.getFrameId("hande_right_finger_joint")
         # TODO: add -1 option here meaning as fast as possible
         self.update_rate = args.ctrl_freq #Hz