diff --git a/rasms_manipulator/CMakeLists.txt b/rasms_manipulator/CMakeLists.txt
index 69197c2..a9a106e 100644
--- a/rasms_manipulator/CMakeLists.txt
+++ b/rasms_manipulator/CMakeLists.txt
@@ -44,8 +44,8 @@ set(dependencies
 
 include_directories(include)
 
-add_library(plansys2_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp)
-list(APPEND plugin_libs plansys2_move_bt_node)
+add_library(rasms_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp)
+list(APPEND plugin_libs rasms_move_bt_node)
 
 foreach(bt_plugin ${plugin_libs})
     ament_target_dependencies(${bt_plugin} ${dependencies})
@@ -58,7 +58,7 @@ ament_target_dependencies(assemble_controller_node ${dependencies})
 install(DIRECTORY launch pddl behavior_trees_xml config DESTINATION share/${PROJECT_NAME})
 
 install(TARGETS
-    # assemble_controller_node
+    assemble_controller_node
     ${plugin_libs}
     ARCHIVE DESTINATION lib
     LIBRARY DESTINATION lib
diff --git a/rasms_manipulator/config/params.yaml b/rasms_manipulator/config/params.yaml
index f5c802b..faf23c9 100644
--- a/rasms_manipulator/config/params.yaml
+++ b/rasms_manipulator/config/params.yaml
@@ -1,8 +1,7 @@
 move_1:
-  ros_parameters:
+  ros__parameters:
     plugins:
-      - plansys2_move_bt_node
-    waypoints: ["zero"]
+      - rasms_move_bt_node
+    waypoints: ["one"]
     waypoints_coords:
-      zero: [0.0, -2.0, 0.0]
-      
\ No newline at end of file
+      one: [0.2, 0.2, 0.2]
diff --git a/rasms_manipulator/launch/rasms_manipulation.launch.py b/rasms_manipulator/launch/rasms_manipulation.launch.py
index 52ef1b0..d175aff 100644
--- a/rasms_manipulator/launch/rasms_manipulation.launch.py
+++ b/rasms_manipulator/launch/rasms_manipulation.launch.py
@@ -19,8 +19,8 @@ def generate_launch_description():
         default_value='',
         description='Namespace')
 
-    stdout_linebuf_envvar = SetEnvironmentVariable(
-        'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
+    # stdout_linebuf_envvar = SetEnvironmentVariable(
+    #     'RCUTILS_CONSOLE_STDOUT_LINE_BUFFERED', '1')
 
     plansys2_cmd = IncludeLaunchDescription(
       PythonLaunchDescriptionSource(os.path.join(
@@ -53,7 +53,7 @@ def generate_launch_description():
     
     ld = LaunchDescription()
 
-    ld.add_action(stdout_linebuf_envvar)
+    # ld.add_action(stdout_linebuf_envvar)
     ld.add_action(declare_namespace_cmd)
 
     # Declare the launch options
diff --git a/rasms_manipulator/pddl/commands b/rasms_manipulator/pddl/commands
index 1445408..dd5cd38 100644
--- a/rasms_manipulator/pddl/commands
+++ b/rasms_manipulator/pddl/commands
@@ -1,7 +1,6 @@
 set instance rasms robot
+set instance one zone
+set predicate (robot_at rasms one)
+set goal (and(robot_moved rasms one))
+run
 
-set instance assembly_zone zone
-
-set predicate (robot_at rasms assembly_zone)
-
-set goal (and())
\ No newline at end of file