Fransisco had everything planned ahead, he already knew Andrea would be attacking the club, he was informed by Richard but he had no idea of the poisoning, Andrea never informed Richard of it which is why most of his men died. He lured Andrea into their trap and by doing that he got a hold of Aurora.
Richard knew she would be in the hotel, he knew the ins and outs of the building so he slipped a sleeping pill into their water and all the drinks in the fridge before they arrived.
By the time Fransisco's men got there, they came in as normal people kidnapped her from her room and used the back door to escape, they created a huge distraction in front of the building which led to the focus of the bodyguards being jeopardized.
Fransisco had a smile of victory on his face, he finally found his queen.
