diff --git a/python/examples/.clik.py.swp b/python/examples/.clik.py.swp
index cfa969c37f3da44874ff263c98f9fbf4d98d91ac..1bb300c0a63b261bebb28545e734d0d9d4aa80aa 100644
Binary files a/python/examples/.clik.py.swp and b/python/examples/.clik.py.swp differ
diff --git a/python/ur_simple_control/util/.get_model.py.swp b/python/ur_simple_control/util/.get_model.py.swp
index 79d1d380f57f95e5f65f7229101507be08baf750..b26aa0f761f38c8893c849f32494045de31994d6 100644
Binary files a/python/ur_simple_control/util/.get_model.py.swp and b/python/ur_simple_control/util/.get_model.py.swp differ
diff --git a/python/ur_simple_control/util/get_model.py b/python/ur_simple_control/util/get_model.py
index 5dd857ddda653764afb694678c8c3eaf4bfa46bc..1406e1fdaa591d1e6daa70d6b01307507cc29bdc 100644
--- a/python/ur_simple_control/util/get_model.py
+++ b/python/ur_simple_control/util/get_model.py
@@ -182,8 +182,8 @@ def get_yumi_model():
     # in case pinocchio people decide to change their api.
     #model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_path_absolute, mesh_dir_absolute)
     model_arms = pin.buildModelFromUrdf(urdf_path_absolute)
-    visual_model_arms = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.VISUAL, None, mesh_dir_absolute)
-    collision_model_arms = pin.buildGeomFromUrdf(model, urdf_path_absolute, pin.GeometryType.COLLISION, None, mesh_dir_absolute)
+    visual_model_arms = pin.buildGeomFromUrdf(model_arms, urdf_path_absolute, pin.GeometryType.VISUAL, None, mesh_dir_absolute)
+    collision_model_arms = pin.buildGeomFromUrdf(model_arms, urdf_path_absolute, pin.GeometryType.COLLISION, None, mesh_dir_absolute)
 
     data_arms = pin.Data(model)
 
@@ -198,14 +198,6 @@ def get_yumi_model():
     joint_placement = pin.SE3.Identity()
     #joint_placement.rotation = pin.rpy.rpyToMatrix(0, -np.pi/2, 0) 
     #joint_placement.translation[2] = 0.2
-    # TODO TODO TODO TODO TODO TODO TODO TODO
-    # TODO: heron is actually a differential drive,
-    # meaning that it is not a planar joint.
-    # we could put in a prismatic + revolute joint
-    # as the base (both joints being at same position),
-    # and that should work for our purposes.
-    # this makes sense for initial testing
-    # because mobile yumi's base is a planar joint
     MOBILE_BASE_JOINT_ID = model_mobile_base.addJoint(parent_id, pin.JointModelPlanar(), 
             joint_placement.copy(), joint_name)
     # we should immediately set velocity limits.