diff --git a/rasms_manipulator/README.md b/rasms_manipulator/README.md
index 6dbb508..23d452c 100644
--- a/rasms_manipulator/README.md
+++ b/rasms_manipulator/README.md
@@ -41,8 +41,9 @@ Then into plansys2_terminal paste command (see updates into pddl/commands)
 ```bash
 set instance rasms robot
 set instance one zone
+set instance two zone
 set predicate (robot_at rasms one)
-set goal (and(robot_moved rasms one))
+set goal (and(robot_at rasms two))
 run
 ```
 
diff --git a/rasms_manipulator/src/rasmsnode.cpp b/rasms_manipulator/src/rasmsnode.cpp
deleted file mode 100644
index 24a8a81..0000000
--- a/rasms_manipulator/src/rasmsnode.cpp
+++ /dev/null
@@ -1,110 +0,0 @@
-#include <memory>
-#include <random>
-
-#include "plansys2_msgs/msg/action_execution_info.hpp"
-
-#include "plansys2_executor/ExecutorClient.hpp"
-#include "plansys2_domain_expert/DomainExpertClient.hpp"
-#include "plansys2_problem_expert/ProblemExpertClient.hpp"
-#include "plansys2_planner/PlannerClient.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-
-class RasmsController: public rclcpp::Node
-{
-public:
-    RasmsController(): rclcpp::Node("rasms_controller")
-    {}
-
-    void init()
-    {
-        domain_expert_ = std::make_shared<plansys2::DomainExpertClient>();
-        problem_expert_ = std::make_shared<plansys2::ProblemExpertClient>();
-        executor_client_ = std::make_shared<plansys2::ExecutorClient>();
-        planner_client_ = std::make_shared<plansys2::PlannerClient>();
-
-        init_knowledge();
-
-        auto domain = domain_expert_->getDomain();
-        auto problem = problem_expert_->getProblem();
-        auto plan = planner_client_->getPlan(domain, problem);
-
-        if (plan.has_value())
-        {
-            if (!executor_client_->start_plan_execution(plan.value()))
-            {
-                RCLCPP_ERROR(get_logger(), "Error starting a new plan (first)");
-            }
-        } else {
-            RCLCPP_ERROR_STREAM(
-                this->get_logger(), "Could not find plan to reach goal " <<
-                parser::pddl::toString(problem_expert_->getGoal()));
-        }
-    }
-
-    void init_knowledge()
-    {
-        problem_expert_->addInstance(plansys2::Instance{"rasms", "robot"});
-        problem_expert_->setGoal(plansys2::Goal("robot moved"));
-    }
-
-    std::string status_to_string(int8_t status) 
-    {
-        switch (status)
-        {
-        case plansys2_msgs::msg::ActionExecutionInfo::NOT_EXECUTED:
-            return "NOT_EXECUTED";
-            break;
-        case plansys2_msgs::msg::ActionExecutionInfo::EXECUTING:
-            return "EXECUTING";
-            break;
-        case plansys2_msgs::msg::ActionExecutionInfo::FAILED:
-            return "FAILED";
-            break;
-        case plansys2_msgs::msg::ActionExecutionInfo::SUCCEEDED:
-            return "SUCCEEDED";
-            break;
-        case plansys2_msgs::msg::ActionExecutionInfo::CANCELLED:
-            return "CANCELLED";
-            break;
-        default:
-            return "UNKNOWN";
-            break;
-        }
-    }
-
-    void step()
-    {
-        if (!executor_client_->execute_and_check_plan()) 
-        {
-            RCLCPP_INFO(get_logger(), "Done!");
-        }
-    }
-
-private:
-    std::shared_ptr<plansys2::ProblemExpertClient> problem_expert_;
-    std::shared_ptr<plansys2::DomainExpertClient> domain_expert_;
-    std::shared_ptr<plansys2::ExecutorClient> executor_client_;
-    std::shared_ptr<plansys2::PlannerClient> planner_client_;
-};
-
-int main(int argc, char** argv)
-{
-    rclcpp::init(argc, argv);
-    auto node = std::make_shared<RasmsController>();
-
-    node->init();
-
-    rclcpp::Rate rate(1);
-    while (rclcpp::ok())
-    {
-        rate.sleep();
-        rclcpp::spin_some(node->get_node_base_interface());
-        node->step();
-    }
-
-    rclcpp::shutdown();
-
-    return 0;
-}
\ No newline at end of file