diff --git a/pddl/main.py b/pddl/main.py
index 6766cce..9c05f1c 100644
--- a/pddl/main.py
+++ b/pddl/main.py
@@ -5,7 +5,7 @@ from src.model.asm4_structure import Asm4Structure
 from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase
  
  
-#  python3 main.py --stepStructurePath /home/idontsudo/t/framework/asp-review-app/server/public/cubes/generation/step-structure.json --outPath /home/idontsudo/t/framework/pddl/
+# python3 main.py --stepStructurePath /Users/idontsudo/robo/step-structure.json --outPath /Users/idontsudo/robo/pddl/out/
 
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
diff --git a/pddl/src/usecases/assembly_to_pddl_use_case.py b/pddl/src/usecases/assembly_to_pddl_use_case.py
index 7583043..a6ba8ef 100644
--- a/pddl/src/usecases/assembly_to_pddl_use_case.py
+++ b/pddl/src/usecases/assembly_to_pddl_use_case.py
@@ -7,13 +7,11 @@ import os
 
 class AssemblyToPddlUseCase:
     def call(assembly: List[str], rootLabel: str):
-        print(assembly)
         partType = UserType("part")
         assemblyType = UserType('assembly')
 
         objectsPartPddl = []
         objectsAsmToPddl = []
-
         i = 0
         for el in assembly:
             objectsPartPddl.append(Object(el, partType))
@@ -30,15 +28,26 @@ class AssemblyToPddlUseCase:
 
         connected = Fluent('part-of', BoolType(),
                            l_from=partType, l_to=assemblyType)
+        assemblyOrder = Fluent('assembly_order', BoolType(),
+                               l_from=assemblyType, l_to=assemblyType)
         i = 0
         for el in objectsPartPddl:
             problem.set_initial_value(connected(el, objectsAsmToPddl[i]), True)
             i = i+1
         goal = Fluent(rootLabel)
+
         problem.add_goal(connected(objectsPartPddl[objectsPartPddl.__len__(
         ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
+        
+        i = 0
+        for el in objectsAsmToPddl:
+            if objectsAsmToPddl[i-1] != objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]:
+                problem.set_initial_value(assemblyOrder(objectsAsmToPddl[i-1], el), True)
+            i = i+1
+        
+        problem.add_goal(assemblyOrder(objectsAsmToPddl[objectsAsmToPddl.__len__(
+        ) - 1], objectsAsmToPddl[objectsAsmToPddl.__len__() - 1]),)
         return {
             "problem": unified_planning.io.PDDLWriter(problem).get_problem(),
             'domain':  FS.readFile(os.path.dirname(os.path.realpath(__file__)) + '/../../mocks' + '/domain.txt'),
         }
-