diff --git a/ur10e_control/CMakeLists.txt b/ur10e_control/CMakeLists.txt
index dbaafc7..cfd10f1 100644
--- a/ur10e_control/CMakeLists.txt
+++ b/ur10e_control/CMakeLists.txt
@@ -10,13 +10,13 @@ find_package(ament_cmake REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 find_package(rclcpp REQUIRED)
 
-add_executable(csv_control src/csv_control.cpp)
-target_include_directories(csv_control PUBLIC
+add_executable(simple_control src/simple_control.cpp)
+target_include_directories(simple_control PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_compile_features(csv_control PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_compile_features(simple_control PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
 ament_target_dependencies(
-  csv_control
+  simple_control
   "moveit_ros_planning_interface"
   "rclcpp"
 )
@@ -26,7 +26,7 @@ install (
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(TARGETS csv_control
+install(TARGETS simple_control
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
diff --git a/ur10e_control/src/csv_control.cpp b/ur10e_control/src/csv_control.cpp
deleted file mode 100644
index 0dd69b8..0000000
--- a/ur10e_control/src/csv_control.cpp
+++ /dev/null
@@ -1,101 +0,0 @@
-#include <fstream>
-#include <memory>
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <rclcpp/rclcpp.hpp>
-#include <sstream>   // std::stringstream
-#include <stdexcept> // std::runtime_error
-#include <string>
-#include <utility> // std::pair
-#include <vector>
-
-int x, y;
-
-int main(int argc, char *argv[]) {
-  // Initialize ROS and create the Node
-  rclcpp::init(argc, argv);
-  auto const node = std::make_shared<rclcpp::Node>(
-      "csv_control",
-      rclcpp::NodeOptions().automatically_declare_parameters_from_overrides(
-          true));
-
-  // Create a ROS logger
-  auto const logger = rclcpp::get_logger("csv_control");
-
-  // Create the MoveIt MoveGroup Interface
-  using moveit::planning_interface::MoveGroupInterface;
-  auto move_group_interface = MoveGroupInterface(node, "ur10e_arm");
-
-  // Create an input filestream
-  std::ifstream myFile("9x9_sample.csv");
-
-  // Make sure the file is open
-  if (!myFile.is_open())
-    throw std::runtime_error("Could not open file");
-
-  // Helper vars
-  std::string line, colname;
-  int val;
-
-  if (myFile.good()) {
-    std::getline(myFile, line); // Extract the first line in the file
-    std::stringstream ss(line); // Create a stringstream from line
-  }
-
-  // Read data, line by line
-  while (std::getline(myFile, line)) {
-    // Create a stringstream of the current line
-    std::stringstream ss(line);
-
-    // Keep track of the current column index
-    int colIdx = 0;
-
-    // Extract just the first two columns (x and y coordinates)
-    while (colIdx < 2) {
-
-      if (colIdx == 0) {
-        ss >> x;
-        RCLCPP_INFO(logger, "x: %d", x);
-      } else {
-        ss >> y;
-        RCLCPP_INFO(logger, "y: %d", y);
-      }
-
-      // If the next token is a comma, ignore it and move on
-      if (ss.peek() == ',')
-        ss.ignore();
-
-      // Set a target Pose
-      auto const target_pose = [] {
-        geometry_msgs::msg::Pose msg;
-        msg.orientation.w = 1.0;
-        msg.position.x = x;
-        msg.position.y = y;
-        msg.position.z = 0.5;
-        return msg;
-      }();
-      move_group_interface.setPoseTarget(target_pose);
-
-      // Create a plan to that target pose
-      auto const [success, plan] = [&move_group_interface] {
-        moveit::planning_interface::MoveGroupInterface::Plan msg;
-        auto const ok = static_cast<bool>(move_group_interface.plan(msg));
-        return std::make_pair(ok, msg);
-      }();
-
-      // Execute the plan
-      if (success) {
-        move_group_interface.execute(plan);
-      } else {
-        RCLCPP_ERROR(logger, "Planning failed!");
-      }
-
-      // Increment the column index
-      colIdx++;
-    }
-  }
-
-  // Shutdown
-  myFile.close();
-  rclcpp::shutdown();
-  return 0;
-}
\ No newline at end of file