diff --git a/rasms_manipulator/README.md b/rasms_manipulator/README.md
index 0007604..f7c6dba 100644
--- a/rasms_manipulator/README.md
+++ b/rasms_manipulator/README.md
@@ -1,42 +1,39 @@
-# PLANSYS2 README
+# Robossembler Plansys2 example
 
-### Plansys2(ROS-Foxy)&MoveIt2
-Plansys2 & MoveIt2 example on ROS2 Foxy 
-### build
-Install ```colcon``` the ROS 2 build system with ```mixin```:
+Plansys2 & MoveIt2 example on ROS2 Foxy
+
+### Install
+Install ```colcon``` with ```mixin``` (it's required to install ```moveit_visual_tools```):
 ```bash
-sudo apt install python3-colcon-common-extensions
-sudo apt install python3-colcon-mixin
+sudo apt install python3-colcon-common-extensions python3-colcon-mixin python3-vcstool
 colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
 colcon mixin update default
 ```
-Install ```vcstool``` :
-```bash
-sudo apt install python3-vcstool
+
+Prepare workspace & install dependencies
+```
+mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
+git clone https://gitlab.com/robosphere/robossembler-ros2 -b dev-motion-planning-plansys2
+vcs import . < robossembler-ros2/rasms.repos
+cd ..
+rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
+colcon build --symlink-install --mixin release
 ```
 
-Install dependency packages from ```rasms.repos```
-```bash
-cd ~/WORKING_DIR_WS
-vsc import src < rasms.repos
+### Run
+Add source to environment
 ```
-
-Build packages
-```bash
-rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
-colcon build --symlink-install
+source install/setup.bash
 ```
-
-### run
-Launch ```rasms_moveit```
+Launch MoveIt2, Gazebo, RViz
 ```bash
 ros2 launch rasms_moveit_config rasms_bringup.launch.py
 ```
-Launch ```rasms_plansys2```
+Launch PlanSys2 with domain from ```pddl/domain.pddl```
 ```bash
-ros2 launch rasms_manipulator rasms_manipulator.launch.py
+ros2 launch rasms_manipulator rasms_manipulation.launch.py
 ```
-Launch ```plansys2_terminal```
+Launch Plansys2 Terminal
 ```bash
 ros2 run plansys2_terminal plansys2_terminal
 ```
@@ -49,9 +46,7 @@ set goal (and(robot_moved rasms one))
 run
 ```
 
-
-
-### links
+### Links
 * [plansys2_bt](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html)
 * [bt_v3_cpp](https://www.behaviortree.dev)
 * [moveit2](https://moveit.picknik.ai/foxy/index.html)