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 be441b6..81beeb7 100644
--- a/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
+++ b/robossembler/behavior_trees_xml/atomic_skills_xml/simple_sequence.xml
@@ -3,6 +3,7 @@
     <!-- ////////// -->
     <BehaviorTree ID="BehaviorTree">
         <Sequence>
+            <Action ID="Print" frame="${arg2}" server_name="/spawn_entity" server_timeout="10"/>
             <Action ID="GetEntityState" part_name="${arg2}" server_name="/get_entity_state" server_timeout="10"/>
             <Action ID="MoveToPose" arm_group="${arg0}" server_name="/move_topose" server_timeout="10" cancel_timeout="5" />
             <Action ID="MoveGripper" arm_group="${arg1}" server_name="/move_to_joint_states" server_timeout="10" cancel_timeout="5" />
@@ -19,6 +20,9 @@
         <Action ID="MoveGripper">
             <input_port name="arm_group"/>
         </Action>
+        <Action ID="Print">
+            <input_port name="frame"/>
+        </Action>
     </TreeNodesModel>
     <!-- ////////// -->
 </root>
diff --git a/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp b/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp
index 0709e7e..d236f20 100644
--- a/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp
+++ b/robossembler/include/robot_bt/behavior_tree_nodes/Print.hpp
@@ -24,9 +24,7 @@ public:
     static BT::PortsList providedPorts()
     {
         return providedBasicPorts({
-            BT::InputPort<std::string>("frame"), 
-            BT::InputPort<std::string>("printer"),
-            BT::InputPort<std::string>("material")
+            BT::InputPort<std::string>("frame")
         });
     }
 
diff --git a/robossembler/src/behavior_tree_nodes/Print.cpp b/robossembler/src/behavior_tree_nodes/Print.cpp
index cad150a..947f54c 100644
--- a/robossembler/src/behavior_tree_nodes/Print.cpp
+++ b/robossembler/src/behavior_tree_nodes/Print.cpp
@@ -20,7 +20,7 @@ Print::Print(const std::string &xml_tag_name,
     geometry_msgs::msg::Pose b;
     a.position.x = -0.5;
     a.position.y = -0.5;
-    a.position.z =  0.0;
+    a.position.z =  0.05;
     printer_coords_.insert(std::make_pair("printerB", b));
     printer_coords_.insert(std::make_pair("printerA", a));
 }
@@ -29,10 +29,12 @@ SpawnEntitySrv::Request::SharedPtr Print::populate_request()
 {
     std::string frame, printer, material;
     getInput<std::string>("frame", frame_);
-    getInput<std::string>("printer", printer_);
-    getInput<std::string>("material", material_);
 
-    std::string package_share_directory = ament_index_cpp::get_package_share_directory("robossembler_sdf_models");
+    printer_ = "printerA";
+    material_="material1";
+
+
+    std::string package_share_directory = ament_index_cpp::get_package_share_directory("sdf_models");
     std::filesystem::path sdf_path = package_share_directory + "/models/" + frame_ + "/model.sdf";
     
     RCLCPP_INFO(_node->get_logger(), "Start read frame (%s) frame_path (%s)", frame_.c_str(), sdf_path.c_str());
@@ -46,8 +48,7 @@ SpawnEntitySrv::Request::SharedPtr Print::populate_request()
     } else {
         
         RCLCPP_WARN(_node->get_logger(), "Failed while try to open file (%s)", sdf_path.c_str());
-        // TODO:
-        //  - exit from service
+        return 0;
     }  
 
     std::string xml = buffer.str();
@@ -56,7 +57,6 @@ SpawnEntitySrv::Request::SharedPtr Print::populate_request()
 
     auto request = std::make_shared<SpawnEntitySrv::Request>();
     request->name = frame_;
-    request->robot_namespace = "";
     request->initial_pose = pose;
     request->xml = xml;
     RCLCPP_INFO(_node->get_logger(), "Connecting to '/spawn_entity' service...");
diff --git a/robossembler/src/move_controller_node.cpp b/robossembler/src/move_controller_node.cpp
index 2b1a923..607214d 100644
--- a/robossembler/src/move_controller_node.cpp
+++ b/robossembler/src/move_controller_node.cpp
@@ -55,10 +55,10 @@ public:
     void init_knowledge()
     {
         problem_expert_->addInstance(plansys2::Instance{"rasmt_arm_group", "robot"});
-        problem_expert_->addInstance(plansys2::Instance{"rasmt", "part"});
+        problem_expert_->addInstance(plansys2::Instance{"cube", "part"});
         problem_expert_->addInstance(plansys2::Instance("rasmt_hand_arm_group", "gripper"));
 
-        problem_expert_->setGoal(plansys2::Goal("(and(enviroment_setup rasmt_arm_group rasmt_hand_arm_group rasmt))"));
+        problem_expert_->setGoal(plansys2::Goal("(and(enviroment_setup rasmt_arm_group rasmt_hand_arm_group cube))"));
 
     }