diff --git a/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaExecutionOET.cpp b/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaExecutionOET.cpp
index 868ffa6..0e1680d 100644
--- a/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaExecutionOET.cpp
+++ b/programs/cgdaExecutionOET/cgdaExecutionOETOpenrave/CgdaExecutionOET.cpp
@@ -67,7 +67,7 @@ int CgdaExecutionOET::init(int argc, char **argv)
     std::string realSimRemote;
     realSimRemote.append( "/1/teoSim/rightArm" );
     realSimOptions.put("remote",realSimRemote);
-    std::string realSimLocal("/cgdaReal/");
+    std::string realSimLocal("/cgdaRealSim/");
     realSimLocal.append( ss.str() );
     realSimLocal.append( "/teo/rightArm" );
     realSimOptions.put("local",realSimLocal);
@@ -86,7 +86,7 @@ int CgdaExecutionOET::init(int argc, char **argv)
     std::string realRemote;
     realRemote.append( "/teo/rightArm" );
     realOptions.put("remote",realRemote);
-    std::string realLocal("/cgdaReal/");
+    std::string realLocal("/cgdaRealReal/");
     realLocal.append( ss.str() );
     realLocal.append( "/teo/rightArm" );
     realOptions.put("local",realLocal);
diff --git a/share/iros2017partialSim.sh b/share/iros2017partialSim.sh
index 020474a..61132b8 100644
--- a/share/iros2017partialSim.sh
+++ b/share/iros2017partialSim.sh
@@ -4,6 +4,8 @@ YARP_PORT_PREFIX=/0 /usr/bin/python $HOME/repos/openrave-yarp-plugins/examples/o
 
 YARP_PORT_PREFIX=/1 /usr/bin/python $HOME/repos/openrave-yarp-plugins/examples/openrave-YarpRobotPaintSquares.py &
 
+yarp connect /1/openraveYarpPaintSquares/rpc:c /painted_wall
+
 # test 1
 $HOME/repos/xgnitive/build/bin/cgdaExecutionOETOpenrave $HOME/repos/xgnitive/programs/cgdaExecutionOET/conf/evMono_ecf_params.xml 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
 # run all