diff --git a/robossembler/launch/task_planner.launch.py b/robossembler/launch/task_planner.launch.py
index 56ed51d..fd9ea5c 100644
--- a/robossembler/launch/task_planner.launch.py
+++ b/robossembler/launch/task_planner.launch.py
@@ -98,7 +98,7 @@ def generate_launch_description():
             'bt_xml_file': pkg_dir + '/behavior_trees_xml/atomic_skills_xml/move.xml',
           }
         ])
-    gz_get_entity_state = Node(
+    """gz_get_entity_state = Node(
         package='plansys2_bt_actions',
         executable='bt_action_node',
         name='get_part_state',
@@ -111,25 +111,16 @@ def generate_launch_description():
                 'bt_xml_file':pkg_dir + '/behavior_trees_xml/atomic_skills_xml/get_part_state.xml'
             }
         ]
-    )
-
-    # transport_1 = Node(
-    #     package='robossembler',
-    #     executable='move_action_node',
-    #     name='transport_1',
-    #     namespace=namespace,
-    #     output='screen',
-    #     parameters=[])
+    )"""
     
     ld = LaunchDescription()
 
     ld.add_action(declare_namespace_cmd)
     #ld.add_action(declare_robot_description)
-    ld.add_action(gz_get_entity_state)
+    #ld.add_action(gz_get_entity_state)
 
     # Declare the launch options
     ld.add_action(plansys2_cmd)
     ld.add_action(move_1)
-    # ld.add_action(transport_1)
     
     return ld
\ No newline at end of file
diff --git a/robossembler/src/move_action_node.cpp b/robossembler/src/move_action_node.cpp
deleted file mode 100644
index bad324e..0000000
--- a/robossembler/src/move_action_node.cpp
+++ /dev/null
@@ -1,70 +0,0 @@
-// Copyright 2019 Intelligent Robotics Lab
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <memory>
-#include <algorithm>
-
-#include "plansys2_executor/ActionExecutorClient.hpp"
-
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp_action/rclcpp_action.hpp"
-
-#include "robot_bt/behavior_tree_nodes/atomic_skills/Move.hpp"
-
-using namespace std::chrono_literals;
-
-class MoveAction : public plansys2::ActionExecutorClient
-{
-public:
-  MoveAction()
-  : plansys2::ActionExecutorClient("move", 500ms)
-  {
-    progress_ = 0.0;
-  }
-
-private:
-  void do_work()
-  {
-    if (progress_ < 1.0) {
-      progress_ += 0.05;
-      send_feedback(progress_, "Move running");
-    } else {
-      finish(true, 1.0, "Move completed");
-
-      progress_ = 0.0;
-      std::cout << std::endl;
-    }
-
-    std::cout << "\r\e[K" << std::flush;
-    std::cout << "Moving ... [" << std::min(100.0, progress_ * 100.0) << "%]  " <<
-      std::flush;
-  }
-
-  float progress_;
-};
-
-int main(int argc, char ** argv)
-{
-  rclcpp::init(argc, argv);
-  auto node = std::make_shared<MoveAction>();
-
-  node->set_parameter(rclcpp::Parameter("action_name", "move"));
-  node->trigger_transition(lifecycle_msgs::msg::Transition::TRANSITION_CONFIGURE);
-
-  rclcpp::spin(node->get_node_base_interface());
-
-  rclcpp::shutdown();
-
-  return 0;
-}
\ No newline at end of file