From cb81c3d575f8232150b5cc197c1addec69bd8f58 Mon Sep 17 00:00:00 2001
From: AntonioViscomi <antonio.viscomi@iit.it>
Date: Thu, 23 Jan 2025 14:11:58 +0100
Subject: [PATCH] Control board now named 'ankle_setup_control_board', works
 with linear motion in range 0-100 [mm], fixed indentation

---
 experimentalSetups/ankleSetup/ankle-setup.xml |   2 +-
 experimentalSetups/ankleSetup/general.xml     |   6 +-
 .../hardware/electronics/ankle-setup-eln.xml  |   4 +-
 .../hardware/mechanicals/ankle-setup-mec.xml  |  15 +-
 .../hardware/motorControl/ankle-setup-mc.xml  | 158 ++++++++----------
 .../motorControl/ankle-setup-mc_service.xml   |  87 +++-------
 .../motorControl/ankle-setup-mc_wrapper.xml   |   2 +-
 .../ankleSetup/yarpScopeFile.xml              |  90 +++++-----
 .../ankleSetup/yarpmotorgui.ini               |   2 +-
 9 files changed, 156 insertions(+), 210 deletions(-)

diff --git a/experimentalSetups/ankleSetup/ankle-setup.xml b/experimentalSetups/ankleSetup/ankle-setup.xml
index ccc50e548..f5f691bc7 100644
--- a/experimentalSetups/ankleSetup/ankle-setup.xml
+++ b/experimentalSetups/ankleSetup/ankle-setup.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<robot name="ankle-setup" build="1" portprefix="ankleSetup" xmlns:xi="http://www.w3.org/2001/XInclude">
+<robot name="ankle-setup" build="1" portprefix="/ankleSetup" xmlns:xi="http://www.w3.org/2001/XInclude">
 
   <devices>
     <params>
diff --git a/experimentalSetups/ankleSetup/general.xml b/experimentalSetups/ankleSetup/general.xml
index 7d80a52fe..8bedc704a 100644
--- a/experimentalSetups/ankleSetup/general.xml
+++ b/experimentalSetups/ankleSetup/general.xml
@@ -2,11 +2,11 @@
 <!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 <params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankleSetup" build="1">
-  
+
   <group name="GENERAL">
-      <param name="skipCalibration">    true  </param>
+      <param name="skipCalibration">    false  </param>
       <param name="useRawEncoderData">  false  </param>
       <param name="useLimitedPWM">      false  </param>
       <param name="verbose">            false  </param>
   </group>
-</params>
+</params>
\ No newline at end of file
diff --git a/experimentalSetups/ankleSetup/hardware/electronics/ankle-setup-eln.xml b/experimentalSetups/ankleSetup/hardware/electronics/ankle-setup-eln.xml
index ee5c45422..c17b99f8e 100644
--- a/experimentalSetups/ankleSetup/hardware/electronics/ankle-setup-eln.xml
+++ b/experimentalSetups/ankleSetup/hardware/electronics/ankle-setup-eln.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle-setup" build="1">
+<params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle_setup_control_board" build="1">
 
     <xi:include href="./pc104.xml" />
     
@@ -16,7 +16,7 @@
         </group>
 
         <group name="ETH_BOARD_SETTINGS">
-            <param name="Name">                     "ankle-setup"        </param> 
+            <param name="Name">                     "ankle_setup_control_board"        </param> 
             <group name="RUNNINGMODE">
                 <param name="period">                   1000                </param>
                 <param name="maxTimeOfRXactivity">      400                 </param>
diff --git a/experimentalSetups/ankleSetup/hardware/mechanicals/ankle-setup-mec.xml b/experimentalSetups/ankleSetup/hardware/mechanicals/ankle-setup-mec.xml
index 1e2411a1c..44ccecc37 100644
--- a/experimentalSetups/ankleSetup/hardware/mechanicals/ankle-setup-mec.xml
+++ b/experimentalSetups/ankleSetup/hardware/mechanicals/ankle-setup-mec.xml
@@ -11,16 +11,16 @@
         <param name="Encoder">              182.044                   </param>
         <param name="fullscalePWM">         32000                     </param>
         <param name="ampsToSensor">         1000.0                    </param>
-        <param name="Gearbox_M2J">          1                         </param>
-        <param name="Gearbox_E2J">          1                         </param> <!--64 when using AMO  1 when using aksim (is the number of sectors)-->
+        <param name="Gearbox_M2J">          72                        </param>
+        <param name="Gearbox_E2J">          1                         </param>
         <param name="useMotorSpeedFbk">     1                         </param> 
         <param name="MotorType">            "MECAPION_APM-SA01ACN-8"  </param>
-        <param name="Verbose"> 0 </param>                    
+        <param name="Verbose">              0                         </param>                    
     </group>                                                 
                                                              
     <group name="LIMITS">                                    
-        <param name="hardwareJntPosMax">    0                  </param>
-        <param name="hardwareJntPosMin">    0                  </param>
+        <param name="hardwareJntPosMax">    0                 </param>
+        <param name="hardwareJntPosMin">    -100                  </param>
         <param name="rotorPosMin">          0                    </param> 
         <param name="rotorPosMax">          0                    </param>
     </group>                                                 
@@ -34,7 +34,7 @@
         <param name="HasRotorEncoderIndex"> 1                    </param>
         <param name="HasSpeedEncoder">      0                    </param>
         <param name="RotorIndexOffset">     105                  </param>
-        <param name="MotorPoles">           8                   </param>
+        <param name="MotorPoles">           8                    </param>
    </group>
 
     <group name="COUPLINGS"> 
@@ -61,7 +61,8 @@
     </group>                
     
     <group name="JOINTSET_CFG"> 
-        <param name= "numberofsets"> 1 </param>
+        <param name= "numberofsets">     1             </param>
+
         <group name="JOINTSET_0">
             <param name="listofjoints">  0             </param>
             <param name="constraint">    none          </param>
diff --git a/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc.xml b/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc.xml
index dab949044..e2ea7d520 100644
--- a/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc.xml
+++ b/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" ?>
 <!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
-
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="ankle-setup-mc" type="embObjMotionControl">
 
     <xi:include href="../../general.xml" />
@@ -9,119 +8,102 @@
     <xi:include href="../../hardware/mechanicals/ankle-setup-mec.xml" />
     <xi:include href="./ankle-setup-mc_service.xml" />
 
-    <!-- joint number                           0                -->
-    <!-- joint name -->
     <group name="LIMITS">
-        <param name="jntPosMax">                0                 </param>
-        <param name="jntPosMin">                0                 </param>
-        <param name="jntVelMax">                100               </param>
-        <param name="motorNominalCurrents">     5000                </param>
-        <param name="motorPeakCurrents">        10000               </param>
-        <param name="motorOverloadCurrents">    15000               </param>
-        <param name="motorPwmLimit">            32000               </param>
+        <!--         joint number                0                     -->
+        <param name="jntPosMax">                -0.002            </param>
+        <param name="jntPosMin">                -99               </param>
+        <param name="jntVelMax">                 100              </param>
+        <param name="motorNominalCurrents">      5000             </param>
+        <param name="motorPeakCurrents">         10000            </param>
+        <param name="motorOverloadCurrents">     15000            </param>
+        <param name="motorPwmLimit">             32000            </param>
     </group>
-
     <group name="TIMEOUTS">
-        <param name="velocity">                 100                 </param>
+        <param name="velocity">                  100              </param>
     </group>
-
     <group name="IMPEDANCE">
-        <param name="stiffness">                0                   </param>
-        <param name="damping">                  0                   </param>
+        <param name="stiffness">                 0                </param>
+        <param name="damping">                   0                </param>
     </group>
-
     <group name="CONTROLS">
-        <param name="positionControl">          POS_PID_DEFAULT     </param>
-        <param name="velocityControl">          POS_PID_DEFAULT     </param>
-        <param name="mixedControl">             POS_PID_DEFAULT     </param>
-        <param name="torqueControl">            TRQ_PID_DEFAULT     </param>
-        <param name="currentPid">               2FOC_CUR_CONTROL    </param>
-        <param name="speedPid">                 2FOC_VEL_CONTROL    </param>
+        <param name="positionControl">           POS_PID_DEFAULT  </param>
+        <param name="velocityControl">           POS_PID_DEFAULT  </param>
+        <param name="mixedControl">              POS_PID_DEFAULT  </param>
+        <param name="torqueControl">             TRQ_PID_DEFAULT  </param>
+        <param name="currentPid">                2FOC_CUR_CONTROL </param>
+        <param name="speedPid">                  2FOC_VEL_CONTROL </param>
     </group>
-
-
     <!-- default position PID: begin -->
-
     <group name="POS_PID_DEFAULT">
-        <param name="controlLaw">             minjerk               </param>
-        <param name="outputType">             pwm                   </param>
-        <param name="fbkControlUnits">        metric_units          </param>
-        <param name="outputControlUnits">     machine_units         </param>
-        <param name="kp">           500              </param>
-        <param name="kd">           0                </param>
-        <param name="ki">           100              </param>
-        <param name="maxOutput">    32000           </param>
-        <param name="maxInt">       3000           </param>
-        <param name="stictionUp">   0              </param>
-        <param name="stictionDown"> 0              </param>
-        <param name="kff">          0              </param>
+        <param name="controlLaw">                minjerk          </param>
+        <param name="outputType">                pwm              </param>
+        <param name="fbkControlUnits">           metric_units     </param>
+        <param name="outputControlUnits">        machine_units    </param>
+        <param name="kp">                        500              </param>
+        <param name="kd">                        0                </param>
+        <param name="ki">                        100              </param>
+        <param name="maxOutput">                 32000            </param>
+        <param name="maxInt">                    3000             </param>
+        <param name="stictionUp">                0                </param>
+        <param name="stictionDown">              0                </param>
+        <param name="kff">                       0                </param>
     </group>
-
     <!-- default position PID: end -->
-
-
     <!-- default torque PID: begin -->
     <group name="TRQ_PID_DEFAULT">
-        <param name="controlLaw">          torque                   </param>
-        <param name="outputType">          current                  </param>
-        <param name="fbkControlUnits">     machine_units            </param>
-        <param name="outputControlUnits">  machine_units            </param>
-        <param name="kp">              1.8    </param>
-        <param name="kd">              0    </param>
-        <param name="ki">              0    </param>
-        <param name="maxOutput">     2000    </param>
-        <param name="maxInt">        1000    </param>
-        <param name="ko">              0.55    </param>
-        <param name="stictionUp">      0    </param>
-        <param name="stictionDown">    0    </param>
-        <param name="kff">             0    </param>
-        <param name="kbemf">           0   </param>
-        <param name="filterType">      3    </param>
-        <param name="ktau">            0    </param>
-        <param name="viscousPos">   1.0     </param>
-        <param name="viscousNeg">   1.0     </param>
-        <param name="coulombPos">   0.0     </param>
-        <param name="coulombNeg">   0.0     </param>
+        <param name="controlLaw">                torque           </param>
+        <param name="outputType">                current          </param>
+        <param name="fbkControlUnits">           machine_units    </param>
+        <param name="outputControlUnits">        machine_units    </param>
+        <param name="kp">                        1.8              </param>
+        <param name="kd">                        0                </param>
+        <param name="ki">                        0                </param>
+        <param name="maxOutput">                 2000             </param>
+        <param name="maxInt">                    1000             </param>
+        <param name="ko">                        0.55             </param>
+        <param name="stictionUp">                0                </param>
+        <param name="stictionDown">              0                </param>
+        <param name="kff">                       0                </param>
+        <param name="kbemf">                     0                </param>
+        <param name="filterType">                3                </param>
+        <param name="ktau">                      0                </param>
+        <param name="viscousPos">                1.0              </param>
+        <param name="viscousNeg">                1.0              </param>
+        <param name="coulombPos">                0.0              </param>
+        <param name="coulombNeg">                0.0              </param>
     </group>
     <!-- default torque PID: end -->
-
-
     <!-- other default PIDs: begin -->
-
     <group name="2FOC_CUR_CONTROL">
-        <param name="controlLaw">           low_lev_current     </param>
-        <param name="fbkControlUnits">      machine_units       </param>
-        <param name="outputControlUnits">   machine_units       </param>
-        <param name="kp">                   8          </param>
-        <param name="kd">                   0          </param>
-        <param name="ki">                   2          </param>
-        <param name="shift">                10         </param>
-        <param name="maxOutput">            32000      </param>
-        <param name="maxInt">               32000      </param>
-        <param name="kff">                  0          </param>
+        <param name="controlLaw">                low_lev_current  </param>
+        <param name="fbkControlUnits">           machine_units    </param>
+        <param name="outputControlUnits">        machine_units    </param>
+        <param name="kp">                        8                </param>
+        <param name="kd">                        0                </param>
+        <param name="ki">                        2                </param>
+        <param name="shift">                     10               </param>
+        <param name="maxOutput">                 32000            </param>
+        <param name="maxInt">                    32000            </param>
+        <param name="kff">                       0                </param>
     </group>
 
     <group name="2FOC_VEL_CONTROL">
-        <param name="controlLaw">           low_lev_speed       </param>
-        <param name="fbkControlUnits">      machine_units       </param>
-        <param name="outputControlUnits">   machine_units       </param>
-        <param name="kff">                  0         </param>
-        <param name="kp">                   12        </param>
-        <param name="kd">                   0         </param>
-        <param name="ki">                   16        </param>
-        <param name="shift">                10        </param>
-        <param name="maxOutput">            32000     </param>
-        <param name="maxInt">               32000     </param>
+        <param name="controlLaw">                low_lev_speed    </param>
+        <param name="fbkControlUnits">           machine_units    </param>
+        <param name="outputControlUnits">        machine_units    </param>
+        <param name="kff">                       0                </param>
+        <param name="kp">                        12               </param>
+        <param name="kd">                        0                </param>
+        <param name="ki">                        16               </param>
+        <param name="shift">                     10               </param>
+        <param name="maxOutput">                 32000            </param>
+        <param name="maxInt">                    32000            </param>
     </group>
-
     <!-- other default PIDs: end -->
 
-
     <!-- custom PIDs: begin -->
     <!-- custom PIDs: end -->
-
     <group name="OTHER_CONTROL_PARAMETERS">
-        <param name="deadZone">             0.0049    </param>
+        <param name="deadZone">                  0.0049           </param>
     </group>
-
 </device>
diff --git a/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc_service.xml b/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc_service.xml
index d356e7a4c..d29907f7d 100644
--- a/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc_service.xml
+++ b/experimentalSetups/ankleSetup/hardware/motorControl/ankle-setup-mc_service.xml
@@ -2,82 +2,45 @@
 <!DOCTYPE params PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
 
 <params xmlns:xi="http://www.w3.org/2001/XInclude" robot="ankle-setup" build="1">
-
     <group name="SERVICE">
-        
         <param name="type"> eomn_serv_MC_foc </param> 
-    
         <group name="PROPERTIES">
-        
-            <group name="ETHBOARD">
-                <param name="type">                 ems4        </param> 
+            <group name="ETHBOARD">                
+                <param name="type">                 ems4        </param>
             </group>          
-
-            <group name="CANBOARDS"> 
-                <param name="type">                 foc         </param> 
+            <group name="CANBOARDS">             
+                <param name="type">                 foc         </param>
                 <group name="PROTOCOL">
-                    <param name="major">            1           </param>    
-                    <param name="minor">            6           </param>     
-                </group>                    
+                    <param name="major">            1           </param>
+                    <param name="minor">            6           </param>
+                </group>
                 <group name="FIRMWARE">
                     <param name="major">            0           </param>    
-                    <param name="minor">            0           </param> 
+                    <param name="minor">            0          </param> 
                     <param name="build">            0           </param>
                 </group>
             </group>
-            
-            
-
             <group name="JOINTMAPPING">
-
                 <group name="ACTUATOR">
-                    <!--                            setup                     -->
-                    <param name="type">             foc        </param>
-                    <param name="port">             CAN1:1:0            </param>
-                </group>                                           
-                    
-                <!-- Aksim2 Encoder-->
-                 <group name="ENCODER1">                            
-                    <param name="type">             none                 </param>  
-                    <param name="port">             none             </param>
-                    <param name="position">         none              </param>
-                    <param name="resolution">       none                 </param> 
-                    <param name="tolerance">        none                  </param>  
+                    <!--                            setup      -->
+                    <param name="type">             foc         </param>
+                    <param name="port">             CAN1:1:0    </param>
+                </group>            
+                 <group name="ENCODER1"> <!-- There's no joint encoder-->
+                    <param name="type">             none        </param>
+                    <param name="port">             none        </param>
+                    <param name="position">         none        </param>
+                    <param name="resolution">       none        </param>
+                    <param name="tolerance">        none        </param>
                 </group>
-
-                <!-- MECAPION_APM-SA01ACN-8 Encoder-->
-                <group name="ENCODER2">                            
-                    <param name="type">             mrie              </param>  <!-- SA01ACN ???-->
-                    <param name="port">             CAN1:1:0          </param>
-                    <param name="position">         atmotor           </param>
-                    <param name="resolution">       8192             </param> 
-                    <param name="tolerance">        3.6               </param>  
+                <group name="ENCODER2"> <!--Set as MRIE to declare the encoder as incremental-->
+                    <param name="type">             mrie        </param>
+                    <param name="port">             CAN1:1:0    </param>
+                    <param name="position">         atmotor     </param>
+                    <param name="resolution">       8192        </param>
+                    <param name="tolerance">        0.2         </param>
                 </group> 
-                
-                <!-- AMO Encoder 16384 if using calib12 or 10 (x64 is defined in mech file at E2J)-->
-	            <!-- group name="ENCODER1">                            
-                    <param name="type">             amo           </param>  
-                    <param name="port">             CONN:P6       </param>
-                    <param name="position">         atjoint       </param>
-                    <param name="resolution">       -1048576      </param> 
-                    <param name="tolerance">        0.703         </param>  
-                </group-->     
-	                                                  
-                <!-- group name="ENCODER2">                            
-                    <param name="type">             mrie                </param>
-                    <param name="port">             CAN1:1:0            </param>
-                    <param name="position">         atmotor             </param>
-                    <param name="resolution">       -15040               </param>
-                    <param name="tolerance">        3.6                 </param>  
-                </group--> 
- 
-            </group>    
-            
-           
-            
+            </group>   
         </group>
-           
     </group>
-    
-  
 </params>
diff --git a/experimentalSetups/ankleSetup/wrappers/motorControl/ankle-setup-mc_wrapper.xml b/experimentalSetups/ankleSetup/wrappers/motorControl/ankle-setup-mc_wrapper.xml
index 4e09369cf..e0cfcc478 100644
--- a/experimentalSetups/ankleSetup/wrappers/motorControl/ankle-setup-mc_wrapper.xml
+++ b/experimentalSetups/ankleSetup/wrappers/motorControl/ankle-setup-mc_wrapper.xml
@@ -3,7 +3,7 @@
 
 <device xmlns:xi="http://www.w3.org/2001/XInclude" name="ankle-setup-mc_nws_yarp" type="controlBoard_nws_yarp">
     <param name="period"> 0.002  </param>
-    <param name="name"> /ankleSetup/ankle-setup </param>
+    <param name="name"> /ankleSetup/ankle_setup_control_board </param>
     <action phase="startup" level="10" type="attach">
         <param name="device"> ankle-setup-mc_remapper </param>
     </action>
diff --git a/experimentalSetups/ankleSetup/yarpScopeFile.xml b/experimentalSetups/ankleSetup/yarpScopeFile.xml
index f6fd28742..7b36b0e1a 100644
--- a/experimentalSetups/ankleSetup/yarpScopeFile.xml
+++ b/experimentalSetups/ankleSetup/yarpScopeFile.xml
@@ -8,57 +8,57 @@
 	    maxval="10000"
           title="Joint Position"
           bgcolor="LightSlateGrey">
-          <graph remote="/ankleSetup/ankle-setup/stateExt:o/split0:o"
-                index="0"
-                color="Red"
-                title="Joint position"
-                type="lines"
-                size="3" />
+          <graph remote="/ankleSetup/ankle_setup_control_board/stateExt:o/split0:o"
+                 index="0"
+                 color="Red"
+                 title="Joint position"
+                 type="lines"
+                 size="3" />
       </plot>
       <plot gridx="1"
-          gridy="0"
-          hspan="1"
-          vspan="1"
-          title="Motor Position"
-          minval="-500000"
-          maxval="500000"
-          bgcolor="LightSlateGrey">
-          <graph remote="/ankleSetup/ankle-setup/stateExt:o/split6:o"
-                index="0"
-                color="Magenta"
-                title="Motor position"
-	          type="lines"
-	          size="3"	/>
+            gridy="0"
+            hspan="1"
+            vspan="1"
+            title="Motor Position"
+            minval="-500000"
+            maxval="500000"
+            bgcolor="LightSlateGrey">
+            <graph remote="/ankleSetup/ankle_setup_control_board/stateExt:o/split6:o"
+                   index="0"
+                   color="Magenta"
+                   title="Motor position"
+	             type="lines"
+	             size="3"	/>
       </plot>
       <plot gridx="0"
-          gridy="1"
-          hspan="1"
-          vspan="1"
-          title="Current Plot"
-          minval="-20"
-          maxval="20"
-          bgcolor="LightSlateGrey">
-          <graph remote="/ankleSetup/ankle-setup/stateExt:o/split16:o"
-               index="0"
-               color="Cyan"
-	         title="Current"
-	         type="lines"
-	         size="3"/>
+            gridy="1"
+            hspan="1"
+            vspan="1"
+            title="Current Plot"
+            minval="-20"
+            maxval="20"
+            bgcolor="LightSlateGrey">
+            <graph remote="/ankleSetup/ankle_setup_control_board/stateExt:o/split16:o"
+                   index="0"
+                   color="Cyan"
+	             title="Current"
+	             type="lines"
+	             size="3"/>
       </plot>
       <plot gridx="1"
-          gridy="1"
-          hspan="1"
-          vspan="1"
-          title="Joint speed Plot"
-          minval="-100"
-          maxval="100"
-          bgcolor="LightSlateGrey">
-          <graph remote="/ankleSetup/ankle-setup/stateExt:o/split2:o"
-               index="0"
-               color="Green"
-               title="Joint Velocity"
-	         type="lines"
-	         size="3"/>
+            gridy="1"
+            hspan="1"
+            vspan="1"
+            title="Joint speed Plot"
+            minval="-100"
+            maxval="100"
+            bgcolor="LightSlateGrey">
+            <graph remote="/ankleSetup/ankle_setup_control_board/stateExt:o/split2:o"
+                   index="0"
+                   color="Green"
+                   title="Joint Velocity"
+	             type="lines"
+	             size="3"/>
       </plot>
 <!--
     <plot gridx="2"
diff --git a/experimentalSetups/ankleSetup/yarpmotorgui.ini b/experimentalSetups/ankleSetup/yarpmotorgui.ini
index 37e437d9e..5ab37364e 100644
--- a/experimentalSetups/ankleSetup/yarpmotorgui.ini
+++ b/experimentalSetups/ankleSetup/yarpmotorgui.ini
@@ -1,7 +1,7 @@
 //name of the robot          
 robot  ankleSetup     
 //parts to be opened by the GUI            
-parts (ankle-setup)               
+parts (ankle_setup_control_board)               
  
  //DO NOT REMOVE THIS LINE