diff --git a/config/panda_control.yaml b/config/panda_control.yaml
index 15cc66ec0c13d58e61df0f117235044fedd21ea5..0e638d3fa8ffebc600713dd10eb6b4a8ce6ad743 100644
--- a/config/panda_control.yaml
+++ b/config/panda_control.yaml
@@ -19,10 +19,10 @@ panda_arm_controller:
 
   state_publish_rate: 100
 
-panda_hand_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-    - panda_finger_joint1
-    - panda_finger_joint2
+# panda_hand_controller:
+#  type: position_controllers/JointTrajectoryController
+#  joints:
+#    - panda_finger_joint1
+#    - panda_finger_joint2
 
   state_publish_rate: 25
diff --git a/launch/robot_setup.launch b/launch/robot_setup.launch
index 440458fc5a53f7b8b341d3a695fc999a4e25de4d..667faabc000ccf13882bb44526a151305ced565c 100644
--- a/launch/robot_setup.launch
+++ b/launch/robot_setup.launch
@@ -1,6 +1,6 @@
 <launch>
 
-    <arg name="robot_ip" default="172.31.1.13" />
+    <arg name="robot_ip" />
     <arg name="load_gripper" default="true" />
 
     <include file="$(find franka_control)/launch/franka_control.launch" >
@@ -29,4 +29,4 @@
     <rosparam file="$(find ccf)/config/config.yaml" command="load" />
     <rosparam file="$(find ccf)/config/config_realrobot.yaml" command="load" />
 
-</launch>
\ No newline at end of file
+</launch>