diff --git a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml b/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
index c8cccfd..be441b6 100644
--- a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
+++ b/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
@@ -3,9 +3,9 @@
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <Sequence>
-            <Action ID="GetEntityState" part_name="${arg1}" server_name="/get_entity_state" server_timeout="10"/>
+            <Action ID="GetEntityState" part_name="${arg2}" server_name="/get_entity_state" server_timeout="10"/>
             <Action ID="MoveToPose" arm_group="${arg0}" server_name="/move_topose" server_timeout="10" cancel_timeout="5" />
-            <Action ID="MoveGripper" arm_group="${arg0}" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
+            <Action ID="MoveGripper" arm_group="${arg1}" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
         </Sequence>
     </BehaviorTree>
     <!-- ////////// -->
diff --git a/robossembler/pddl/domain.pddl b/robossembler/pddl/domain.pddl
index 0016c43..3df8372 100644
--- a/robossembler/pddl/domain.pddl
+++ b/robossembler/pddl/domain.pddl
@@ -12,10 +12,7 @@
 
 ;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
 (:predicates
-(move_at ?r - robot ?z - zone)
-(part_pose ?p - part)
-(gripper_move ?gr - gripper ?g - gap)
-(part_at ?r - robot ?p - part)
+(enviroment_setup ?r - robot ?g - gripper ?p - part)
 );; end Predicates ;;;;;;;;;;;;;;;;;;;;
 
 ;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -25,9 +22,9 @@
 
 ;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 (:durative-action assemble-1
-    :parameters (?r - robot ?p - part)
+    :parameters (?r - robot ?g - gripper ?p - part)
     :duration ( = ?duration 1)
-    :effect (and(at start (part_at ?r ?p))
+    :effect (and(at start (enviroment_setup ?r ?g ?p)))
 )
 
 ;(:durative-action move_gripper
diff --git a/robossembler/src/move_controller_node.cpp b/robossembler/src/move_controller_node.cpp
index 942d1c4..2b1a923 100644
--- a/robossembler/src/move_controller_node.cpp
+++ b/robossembler/src/move_controller_node.cpp
@@ -56,8 +56,9 @@ public:
     {
         problem_expert_->addInstance(plansys2::Instance{"rasmt_arm_group", "robot"});
         problem_expert_->addInstance(plansys2::Instance{"rasmt", "part"});
+        problem_expert_->addInstance(plansys2::Instance("rasmt_hand_arm_group", "gripper"));
 
-        problem_expert_->setGoal(plansys2::Goal("(and(part_at rasmt_arm_group rasmt)))"));
+        problem_expert_->setGoal(plansys2::Goal("(and(enviroment_setup rasmt_arm_group rasmt_hand_arm_group rasmt))"));
 
     }