diff --git a/config/config_scene_dineros-right.json b/config/config_scene_dineros-right.json
index 8add43011d2ba6b2230f9988a15cb2306ac64ee4..f54d0fd68424f0f0d78aa1fa6f578808d59c2488 100644
--- a/config/config_scene_dineros-right.json
+++ b/config/config_scene_dineros-right.json
@@ -467,7 +467,7 @@
       }
     },
     {
-      "id": "arm2",
+      "id": "arm1",
       "type": "ARM",
       "pos": {
         "z": 0.89,
diff --git a/config/config_scene_dineros-right.yaml b/config/config_scene_dineros-right.yaml
index 943627a303fbc451ce262439cab26b028a50efd7..e910863db17d2946afd1ca621d1712fc50f4339f 100644
--- a/config/config_scene_dineros-right.yaml
+++ b/config/config_scene_dineros-right.yaml
@@ -50,5 +50,5 @@
   # formula (python)
   # for i in range(3,10): print("{ 'id': 'object4x2x%.1f','type': 'BOX','pos': { 'x': 0.3,'y': %f,'z': %f },'size': { 'length': .0318, 'width': .0636,'height': %f },'orientation': { 'w': 1 },'color': {} }," % (i/2, (i-6)*.1, (i*48+23+8900)/10000, (i*96+46)/10000));
 
-  { 'id': 'arm2','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
+  { 'id': 'arm1','type': 'ARM','pos': { 'z': 0.89 , 'x': -0.22 },'size': { },'orientation': { 'w': 1 },'color': { 'r': 1.00,'g': 1.00,'b': 1.00 } }
 ] }
diff --git a/launch/cell-controllers/robot-cell_ceti-table-1.launch b/launch/cell-controllers/robot-cell_ceti-table-1.launch
index 6687656e9f50a55f8b33641737c397758e9148d9..9a1c1ee483a66ad264b239e0284d49d9fcd3648f 100644
--- a/launch/cell-controllers/robot-cell_ceti-table-1.launch
+++ b/launch/cell-controllers/robot-cell_ceti-table-1.launch
@@ -1,11 +1,11 @@
 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+    <arg name="mqtt_server" default="tcp://localhost:1883"
          doc="address of the mqtt server for the connection to the controller"/>
 
     <!-- robot IP used by the robot controller -->
-    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+    <arg name="robot_ip" default="172.31.1.17" doc="ip address if the robot"/>
 
     <include file="$(find ccf)/launch/robot_setup.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
diff --git a/launch/cell-controllers/robot-cell_dineros-left.launch b/launch/cell-controllers/robot-cell_dineros-left.launch
index e9de7414c46a79a0df3b4b01aa98f3246b5620c1..2300fe6f77f2fc1f60b420f1f41e9059007683b9 100644
--- a/launch/cell-controllers/robot-cell_dineros-left.launch
+++ b/launch/cell-controllers/robot-cell_dineros-left.launch
@@ -1,11 +1,11 @@
 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+    <arg name="mqtt_server" default="tcp://localhost:1883"
          doc="address of the mqtt server for the connection to the controller"/>
 
     <!-- robot IP used by the robot controller -->
-    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+    <arg name="robot_ip" default="172.31.1.17" doc="ip address if the robot"/>
 
     <include file="$(find ccf)/launch/robot_setup.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
@@ -13,7 +13,7 @@
     </include>
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_1" output="screen">
-        <param name="arm" type="string" value="arm"/>
+        <param name="arm" type="string" value="arm1"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-left.json"/>
     </node>
diff --git a/launch/cell-controllers/robot-cell_dineros-right.launch b/launch/cell-controllers/robot-cell_dineros-right.launch
index f7a160201ecbfadfdec162a2107ea8b0fd5380e2..06afd806b64f16be326cc1b12585ea8e9df6628c 100644
--- a/launch/cell-controllers/robot-cell_dineros-right.launch
+++ b/launch/cell-controllers/robot-cell_dineros-right.launch
@@ -1,11 +1,11 @@
 <launch>
 
     <!-- MQTT server for communication with client cells -->
-    <arg name="mqtt_server" default="tcp://192.168.0.122:1883"
+    <arg name="mqtt_server" default="tcp://localhost:1883"
          doc="address of the mqtt server for the connection to the controller"/>
 
     <!-- robot IP used by the robot controller -->
-    <arg name="robot_ip" default="172.31.1.13" doc="ip address if the robot"/>
+    <arg name="robot_ip" default="172.31.1.17" doc="ip address if the robot"/>
 
     <include file="$(find ccf)/launch/robot_setup.launch">
         <arg name="robot_ip" value="$(arg robot_ip)"/>
@@ -13,7 +13,7 @@
     </include>
 
     <node pkg="ccf_immersive_sorting" type="moveit_sorting_controller" name="ceti_cell_2" output="screen">
-        <param name="arm" type="string" value="arm"/>
+        <param name="arm" type="string" value="arm1"/>
         <param name="mqtt_server" type="yaml" value="$(arg mqtt_server)"/>
         <param name="scene" type="string" value="$(find ccf_immersive_sorting)/config/config_scene_dineros-right.json"/>
     </node>