diff --git a/rbs_bringup/launch/rbs_robot.launch.py b/rbs_bringup/launch/rbs_robot.launch.py
index c8a4668..79d6ae1 100644
--- a/rbs_bringup/launch/rbs_robot.launch.py
+++ b/rbs_bringup/launch/rbs_robot.launch.py
@@ -15,7 +15,6 @@ import xacro
 import os
 from ament_index_python.packages import get_package_share_directory
 
-from rbs_arm import RbsBuilder
 
 def launch_setup(context, *args, **kwargs):
     # Initialize Arguments
@@ -53,7 +52,7 @@ def launch_setup(context, *args, **kwargs):
     controllers_file = controllers_file.perform(context)
 
     # remappings = [("/tf", "tf"), ("/tf_static", "tf_static")]
-    
+
     xacro_file = os.path.join(get_package_share_directory(description_package), "urdf", description_file)
     robot_description_doc = xacro.process_file(
         xacro_file,
@@ -72,15 +71,10 @@ def launch_setup(context, *args, **kwargs):
         }
     )
 
-    # robot = RbsBuilder(6, "arm0", "world", "rbs_gripper")
-    # robot.base()
-    # robot.gripper()
-    # robot.ros2_control()
-    # robot.moveit()
     robot_description_content = robot_description_doc.toprettyxml(indent="  ")
 
     robot_description = {"robot_description": robot_description_content}
-    
+
     robot_description_semantic_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
@@ -94,7 +88,7 @@ def launch_setup(context, *args, **kwargs):
             "gripper_name:=", gripper_name, " ",
         ]
     )
- 
+
     robot_description_semantic = {"robot_description_semantic": robot_description_semantic_content}
     robot_description_kinematics = PathJoinSubstitution(
         [FindPackageShare(moveit_config_package), "config", "kinematics.yaml"]
@@ -145,7 +139,7 @@ def launch_setup(context, *args, **kwargs):
             'namespace': namespace,
         }.items(),
         condition=IfCondition(launch_controllers))
-   
+
     moveit = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
             PathJoinSubstitution([
@@ -183,7 +177,7 @@ def launch_setup(context, *args, **kwargs):
             'namespace': namespace
         }.items()
     )
-    
+
     task_planner = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
             PathJoinSubstitution([
@@ -196,7 +190,7 @@ def launch_setup(context, *args, **kwargs):
             # TBD
         }.items(),
         condition=IfCondition(launch_task_planner))
-    
+
     perception = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([
             PathJoinSubstitution([
@@ -310,101 +304,101 @@ def generate_launch_description():
         )
     )
     declared_arguments.append(
-        DeclareLaunchArgument("with_gripper", 
-                              default_value="true", 
+        DeclareLaunchArgument("with_gripper",
+                              default_value="true",
                               description="With gripper or not?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_rviz", 
-                              default_value="true", 
+        DeclareLaunchArgument("launch_rviz",
+                              default_value="true",
                               description="Launch RViz?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("sim_gazebo", 
-                              default_value="true", 
+        DeclareLaunchArgument("sim_gazebo",
+                              default_value="true",
                               description="Gazebo Simulation")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("env_manager", 
-                              default_value="true", 
+        DeclareLaunchArgument("env_manager",
+                              default_value="true",
                               description="Launch env_manager?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_sim", 
-                              default_value="true", 
+        DeclareLaunchArgument("launch_sim",
+                              default_value="true",
                               description="Launch simulator (Gazebo)?\
                               Most general arg")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_moveit", 
-                              default_value="true", 
+        DeclareLaunchArgument("launch_moveit",
+                              default_value="true",
                               description="Launch moveit?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_perception", 
-                              default_value="false", 
+        DeclareLaunchArgument("launch_perception",
+                              default_value="false",
                               description="Launch perception?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_task_planner", 
-                              default_value="false", 
+        DeclareLaunchArgument("launch_task_planner",
+                              default_value="false",
                               description="Launch task_planner?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("cartesian_controllers", 
-                              default_value="false", 
+        DeclareLaunchArgument("cartesian_controllers",
+                              default_value="false",
                               description="Load cartesian\
                               controllers?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("hardware", 
+        DeclareLaunchArgument("hardware",
                               choices=["gazebo", "mock"],
-                              default_value="gazebo", 
+                              default_value="gazebo",
                               description="Choose your harware_interface")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_controllers", 
-                              default_value="true", 
+        DeclareLaunchArgument("launch_controllers",
+                              default_value="true",
                               description="Launch controllers?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("gazebo_gui", 
-                              default_value="false", 
+        DeclareLaunchArgument("gazebo_gui",
+                              default_value="false",
                               description="Launch gazebo with gui?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("namespace", 
-                              default_value="", 
+        DeclareLaunchArgument("namespace",
+                              default_value="",
                               description="The ROS2 namespace of a robot")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("x", 
-                              default_value="0.0", 
+        DeclareLaunchArgument("x",
+                              default_value="0.0",
                               description="Position of robot in world by X")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("y", 
-                              default_value="0.0", 
+        DeclareLaunchArgument("y",
+                              default_value="0.0",
                               description="Position of robot in world by Y")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("z", 
-                              default_value="0.0", 
+        DeclareLaunchArgument("z",
+                              default_value="0.0",
                               description="Position of robot in world by Z")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("roll", 
-                              default_value="0.0", 
+        DeclareLaunchArgument("roll",
+                              default_value="0.0",
                               description="Position of robot in world by Z")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("pitch", 
-                              default_value="0.0", 
+        DeclareLaunchArgument("pitch",
+                              default_value="0.0",
                               description="Position of robot in world by Z")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("yaw", 
-                              default_value="0.0", 
+        DeclareLaunchArgument("yaw",
+                              default_value="0.0",
                               description="Position of robot in world by Z")
     )
 
diff --git a/rbs_bringup/launch/single_robot.launch.py b/rbs_bringup/launch/single_robot.launch.py
index 450dd5e..9808fda 100644
--- a/rbs_bringup/launch/single_robot.launch.py
+++ b/rbs_bringup/launch/single_robot.launch.py
@@ -53,7 +53,8 @@ def launch_setup(context, *args, **kwargs):
         launch_arguments={
             'sim_gazebo': sim_gazebo,
             'debugger': "false",
-            'launch_env_manager': "false"
+            'launch_env_manager': "false",
+            'gazebo_world_filename': "asm2.sdf"
         }.items(),
         condition=IfCondition(launch_simulation)
     )
diff --git a/rbs_bt_executor/package.xml b/rbs_bt_executor/package.xml
index 26a2bf5..9e8af79 100644
--- a/rbs_bt_executor/package.xml
+++ b/rbs_bt_executor/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <depend>rbs_utils</depend>
   <depend>rbs_skill_interfaces</depend>
-  <depend>component_interfaces</depend>
   <depend>env_manager_interfaces</depend>
   <depend>behavior_tree</depend>
   <test_depend>ament_lint_auto</test_depend>
diff --git a/repos/sim.rbs.repos b/repos/sim.rbs.repos
index 13d61b4..fd7de3a 100644
--- a/repos/sim.rbs.repos
+++ b/repos/sim.rbs.repos
@@ -15,3 +15,7 @@ repositories:
     type: git
     url: https://github.com/osrf/dynamic_message_introspection.git
     version: main
+  robot_builder:
+    type: git
+    url: https://github.com/solid-sinusoid/robot-builder.git
+    version: main