diff --git a/robossembler/CMakeLists.txt b/robossembler/CMakeLists.txt
index d4a8e90..05a6bc1 100644
--- a/robossembler/CMakeLists.txt
+++ b/robossembler/CMakeLists.txt
@@ -59,14 +59,11 @@ endforeach()
 add_executable(move_controller_node src/move_controller_node.cpp)
 ament_target_dependencies(move_controller_node ${dependencies})
 
-add_executable(move_action_node src/move_action_node.cpp)
-ament_target_dependencies(move_action_node ${dependencies})
 
 install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
 
 install(TARGETS
     move_controller_node
-    move_action_node
     ${plugin_libs}
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
diff --git a/robossembler/behavior_trees_xml/atomic_skills_xml/grasp_skill.xml b/robossembler/behavior_trees_xml/atomic_skills_xml/grasp_skill.xml
new file mode 100644
index 0000000..26a55ff
--- /dev/null
+++ b/robossembler/behavior_trees_xml/atomic_skills_xml/grasp_skill.xml
@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<root main_tree_to_execute="GraspPart">
+    <!-- ////////// -->
+    <BehaviorTree ID="GraspPart">
+        <Fallback name="root_Fallback">
+            <Sequence name="GraspSkill">
+                <ReactiveFallback name="PartEstimate">
+                    <Condition ID="PartInScene"/>
+                    <Action ID="FindPart" PartName="{arg1}" PartPose="{arg0}"/>
+                </ReactiveFallback>
+                <Fallback name="Move">
+                    <Condition ID="PathFree"/>
+                    <Action ID="MoveToPoint" arm_group="${arg2}" goal="${arg0}"/>
+                </Fallback>
+                <Action ID="GraspPart" arm_group="${arg3}"/>
+                <Action ID="MoveToPoint" arm_group="{arg2}" goal="{arg4}"/>
+            </Sequence>
+        </Fallback>
+    </BehaviorTree>
+    <!-- ////////// -->
+    <TreeNodesModel>
+        <Action ID="FindPart">
+            <inout_port name="PartName"/>
+            <output_port name="PartPose"/>
+        </Action>
+        <Action ID="GraspPart">
+            <input_port name="arm_group"/>
+        </Action>
+        <Action ID="MoveToPoint">
+            <input_port name="arm_group"/>
+            <input_port name="goal"/>
+        </Action>
+        <Condition ID="PartInScene"/>
+        <Condition ID="PathFree"/>
+        <Action ID="SpawnPart">
+            <inout_port name="PartName"/>
+            <input_port name="PartPose"/>
+        </Action>
+    </TreeNodesModel>
+    <!-- ////////// -->
+</root>
+
diff --git a/robossembler/pddl/domain.pddl b/robossembler/pddl/domain.pddl
index 90b151b..67ac2d8 100644
--- a/robossembler/pddl/domain.pddl
+++ b/robossembler/pddl/domain.pddl
@@ -5,13 +5,13 @@
 (:types
     robot
     zone
-    part
 );; end Types ;;;;;;;;;;;;;;;;;;;;;;;;;
 
 ;; Predicates ;;;;;;;;;;;;;;;;;;;;;;;;;
 (:predicates
-    (robot_move ?r - robot ?z - zone)
-    (pose-estimated ?p - part)
+
+(robot_move ?r - robot ?z - zone)
+
 );; end Predicates ;;;;;;;;;;;;;;;;;;;;
 
 ;; Functions ;;;;;;;;;;;;;;;;;;;;;;;;;
@@ -19,21 +19,11 @@
 
 );; end Functions ;;;;;;;;;;;;;;;;;;;;
 
-(:durative-action get_part_state
-    :parameters (?p - part)
-    :duration ( = ?duration 1)
-    :condition (at start (not (pose-estimated ?p)))
-    :effect (at end (pose-estimated ?p))
-)
-
-
 ;; Actions ;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 (:durative-action move
-    :parameters (?r - robot ?z - zone ?p - part)
+    :parameters (?r - robot ?z - zone)
     :duration ( = ?duration 1)
-    :condition (at start (pose-estimated ?p))
-    :effect (at end (robot_move ?r ?z))
-);(at start (pose-estimated ?p))
+    :effect (and (at end(robot_move ?r ?z)))
+)
 
-
-;; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;
\ No newline at end of file
+);; end Domain ;;;;;;;;;;;;;;;;;;;;;;;;