diff --git a/README.md b/README.md
index 9d8e4d1..de6e113 100644
--- a/README.md
+++ b/README.md
@@ -3,13 +3,16 @@
 ## Project Overview
 `TurtleBot3 Agent` enables intuitive control of a TurtleBot3 robot using natural language. It interprets user instructions and uses tools to perform tasks such as moving, accessing sensor data, and navigating.
 
-## TurtleBot3 Agent Demo
+## TurtleBot3 Agent Demo in the Real World
 ##### Prompt used
-> Please move to (2.0, 2.0). Then, check for any obstacles around you there. If you find an obstacle, show me an image and come back to your staring point.
+> I want you to move in square. Each length should be 0.5 meters long.
 
 
 
-https://github.com/user-attachments/assets/5eb21ea0-ab1f-4d9c-b051-ef4c97e58262
+
+
+https://github.com/user-attachments/assets/c2d56318-65da-46f3-aa2e-d7952b805cc3
+
 
 
 
diff --git a/requirements.txt b/requirements.txt
index 7341ac2..4fc9cba 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -12,5 +12,5 @@ numpy==1.26.4
 opencv-python==4.11.0.86
 pillow==9.0.1
 pydantic==2.11.3
-rclpy==3.3.16
-transforms3d==0.4.2
\ No newline at end of file
+transforms3d==0.4.2
+cohere==5.15.0
\ No newline at end of file
diff --git a/turtlebot3_agent/tools/all_tools.py b/turtlebot3_agent/tools/all_tools.py
index 51f20df..8e5adc2 100644
--- a/turtlebot3_agent/tools/all_tools.py
+++ b/turtlebot3_agent/tools/all_tools.py
@@ -1,14 +1,4 @@
-# from turtlebot3_agent.tools.api_tools import get_information_from_internet
-from turtlebot3_agent.tools.motion_tools import (
-    make_navigate_to_pose_tool,
-    make_transform_odom_to_map_tool,
-)
-
-# from turtlebot3_agent.tools.navigation_tools import make_navigate_to_goal_tool
-from turtlebot3_agent.tools.sensor_tools import (
-    make_get_lidar_scan_tool,
-    make_start_camera_display_tool,
-)
+from turtlebot3_agent.tools.motion_tools import make_move_linear_tool, make_rotate_tool
 from turtlebot3_agent.tools.status_tools import make_get_turtle_pose_tool
 
 
@@ -23,9 +13,7 @@ def make_all_tools(node) -> list:
         list: List of tools available to the agent
     """
     return [
-        make_transform_odom_to_map_tool(node),
-        make_start_camera_display_tool(node),
-        make_navigate_to_pose_tool(node),
+        make_move_linear_tool(node),
+        make_rotate_tool(node),
         make_get_turtle_pose_tool(node),
-        make_get_lidar_scan_tool(node),
     ]
diff --git a/turtlebot3_agent/tools/motion_tools.py b/turtlebot3_agent/tools/motion_tools.py
index f5bdca7..b181a6b 100644
--- a/turtlebot3_agent/tools/motion_tools.py
+++ b/turtlebot3_agent/tools/motion_tools.py
@@ -132,58 +132,6 @@ def inner(inputs: MoveCurveInput) -> str:
     )
 
 
-def make_navigate_to_pose_tool(node):
-    """
-    Create a tool that uses Nav2 NavigateToPose action to navigate to a goal position.
-
-    Args:
-        node: The TB3Agent node instance
-
-    Returns:
-        StructuredTool: A LangChain tool for navigation
-    """
-
-    class NavigateInput(BaseModel):
-        x: float = Field(description="Goal X coordinate in meters (map frame)")
-        y: float = Field(description="Goal Y coordinate in meters (map frame)")
-        yaw: float = Field(description="Goal yaw angle in radians")
-
-    def inner(inputs: NavigateInput) -> str:
-        success = node.navigate_to_pose(x=inputs.x, y=inputs.y, yaw=inputs.yaw)
-
-        if success:
-            if not node.wait_for_pose(timeout=0.5):
-                return "Navigation completed, but pose data not received yet."
-            else:
-                map_x, map_y, map_yaw = node.transform_odom_to_map(
-                    odom_x=node.x, odom_y=node.y, odom_yaw=node.yaw
-                )
-                return (
-                    f"Navigation completed successfully! "
-                    f"You are now at position ({round(map_x, 2)}, {round(map_y, 2)}) in the map frame"
-                    f"with a yaw angle of {round(map_yaw, 3)} radians."
-                )
-        else:
-            return "Navigation failed. The goal may be unreachable or the action server is not available."
-
-    return StructuredTool.from_function(
-        func=inner,
-        name="navigate_to_pose",
-        description="""
-        Navigate to a specific goal position using Nav2 path planning and obstacle avoidance.
-
-        Args:
-        - x (float): Goal X coordinate in meters (map frame)
-        - y (float): Goal Y coordinate in meters (map frame)  
-        - yaw (float): Goal yaw angle in radians
-
-        This tool uses the Nav2 navigation stack to plan a path and navigate to the goal
-        while avoiding obstacles. It's more robust than direct movement commands for
-        navigating in complex environments with obstacles.
-        """,
-    )
-
-
 def make_transform_odom_to_map_tool(node):
     """
     Create a tool that transforms coordinates from odom frame to map frame.