diff --git a/flake.nix b/flake.nix
index cb0fd12..f4d5bac 100644
--- a/flake.nix
+++ b/flake.nix
@@ -25,7 +25,7 @@
           name = "ASTRA Anchor";
           packages = with pkgs; [
             colcon
-            (python312.withPackages (
+            (python313.withPackages (
               p: with p; [
                 pyserial
                 pygame
diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py
index d834367..79ea3ea 100644
--- a/src/arm_pkg/arm_pkg/arm_node.py
+++ b/src/arm_pkg/arm_pkg/arm_node.py
@@ -233,7 +233,7 @@ class ArmNode(Node):
 
         command += f"can_relay_tovic,digit,39,{msg.effector_yaw},{msg.effector_roll}\n"
 
-        # command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
+        command += f"can_relay_tovic,digit,26,{msg.gripper}\n"  # no hardware rn
 
         command += f"can_relay_tovic,digit,28,{msg.laser}\n"
 
diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py
index 58b9b6c..b5ae8d8 100644
--- a/src/core_pkg/core_pkg/core_node.py
+++ b/src/core_pkg/core_pkg/core_node.py
@@ -31,14 +31,14 @@ CORE_WHEEL_RADIUS = 0.171  # meters
 CORE_GEAR_RATIO = 100.0  # Clucky: 100:1, Testbed: 64:1
 
 control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    # history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    # durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
 # Used to verify the length of an incoming VicCAN feedback message
diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py
index 8b52755..7d840cc 100755
--- a/src/headless_pkg/src/headless_node.py
+++ b/src/headless_pkg/src/headless_node.py
@@ -37,14 +37,14 @@ ARM_STOP_MSG = ArmManual()  # "
 BIO_STOP_MSG = BioControl()  # "
 
 control_qos = qos.QoSProfile(
-    history=qos.QoSHistoryPolicy.KEEP_LAST,
+    # history=qos.QoSHistoryPolicy.KEEP_LAST,
     depth=2,
-    reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
-    durability=qos.QoSDurabilityPolicy.VOLATILE,
-    deadline=Duration(seconds=1),
-    lifespan=Duration(nanoseconds=500_000_000),  # 500ms
-    liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
-    liveliness_lease_duration=Duration(seconds=5),
+    # reliability=qos.QoSReliabilityPolicy.BEST_EFFORT,
+    # durability=qos.QoSDurabilityPolicy.VOLATILE,
+    # deadline=Duration(seconds=1),
+    # lifespan=Duration(nanoseconds=500_000_000),  # 500ms
+    # liveliness=qos.QoSLivelinessPolicy.SYSTEM_DEFAULT,
+    # liveliness_lease_duration=Duration(seconds=5),
 )
 
 arm_ik_qos = qos.QoSProfile(