diff --git a/examples/reachy2-remote/dataflow_reachy.yml b/examples/reachy2-remote/dataflow_reachy.yml
index d0a189e0..7e503c6b 100644
--- a/examples/reachy2-remote/dataflow_reachy.yml
+++ b/examples/reachy2-remote/dataflow_reachy.yml
@@ -9,7 +9,7 @@ nodes:
     env:
       # IMAGE_WIDTH: 640
       # IMAGE_HEIGHT: 480
-      ROBOT_IP: 172.18.131.66
+      ROBOT_IP: 10.42.0.242
 
   - id: reachy-head
     build: pip install -e ../../node-hub/dora-reachy2
@@ -19,7 +19,7 @@ nodes:
     env:
       # IMAGE_WIDTH: 640
       # IMAGE_HEIGHT: 480
-      ROBOT_IP: 172.18.131.66
+      ROBOT_IP: 10.42.0.242
 
   - id: camera_depth
     build: pip install -e ../../node-hub/dora-reachy2
@@ -32,7 +32,7 @@ nodes:
     env:
       # IMAGE_WIDTH: 640
       # IMAGE_HEIGHT: 480
-      ROBOT_IP: 172.18.131.66
+      ROBOT_IP: 10.42.0.242
 
   - id: reachy-left-arm
     build: pip install -e ../../node-hub/dora-reachy2
@@ -42,7 +42,7 @@ nodes:
     outputs:
       - response_l_arm
     env:
-      ROBOT_IP: 172.18.131.66
+      ROBOT_IP: 10.42.0.242
 
   - id: reachy-right-arm
     build: pip install -e ../../node-hub/dora-reachy2
@@ -52,7 +52,7 @@ nodes:
     outputs:
       - response_r_arm
     env:
-      ROBOT_IP: 172.18.131.66
+      ROBOT_IP: 10.42.0.242
 
   - id: reachy-mobile-base
     build: pip install -e ../../node-hub/dora-reachy2
@@ -64,7 +64,7 @@ nodes:
     outputs:
       - response_base
     env:
-      ROBOT_IP: 172.18.131.66
+      ROBOT_IP: 10.42.0.242
 
   - id: dora-microphone
     build: pip install -e ../../node-hub/dora-microphone
diff --git a/examples/reachy2-remote/parse_whisper.py b/examples/reachy2-remote/parse_whisper.py
index aa1609f3..1fa84fb1 100644
--- a/examples/reachy2-remote/parse_whisper.py
+++ b/examples/reachy2-remote/parse_whisper.py
@@ -34,10 +34,13 @@ def handle_event(text: str):
     elif (
         ("pick" in text and "place" in text)
         or ("make a hot dog" in text)
+        or ("make a vegetarian hot dog" in text)
         or ("cook" in text)
     ):
         if "make a hot dog" in text:
-            text = "pick the sausage, place it on the black grill, wait, flip the sausage, wait, pick the sausage, place it on the bread, speak it's ready!"
+            text = "pick the sausage, place it on the black grill, wait, flip the sausage on the grill, wait, pick the sausage on the grill, place it on the hot dog bun, speak it's ready!"
+        if "make a vegetarian hot dog" in text:
+            text = "pick the cucumber, place it on the black grill, wait, flip the cucumber on the grill, wait, pick the cucumber on the grill, place it on the hot dog bun, speak it's ready!"
         elif "cook" in text:
             # Match 'grill' followed by two words
             match = re.search(r"\bcook\b\s+(\w+)\s+(\w+)", text)
@@ -62,7 +65,7 @@ def handle_event(text: str):
 
         node.send_output("speech", pa.array(["I'm going to " + text]))
 
-        text = f"Given the prompt: {text}. Output the bounding boxes for the given picked object"
+        text = f"Given the prompt: {text}. Output the bounding boxes for the object to be picked"
 
         node.send_output(
             "text",
@@ -104,7 +107,7 @@ def handle_event(text: str):
 
         node.send_output("speech", pa.array(["I'm going to " + text]))
 
-        text = f"Given the prompt: {text}. Output the bounding boxes for the flipped object"
+        text = f"Given the prompt: {text}. Output the bounding boxes for the object to flip"
         node.send_output(
             "text",
             pa.array([text]),