diff --git a/robowaiter/algos/navigator/navigate.py b/robowaiter/algos/navigator/navigate.py
index ddad6bc..c165962 100644
--- a/robowaiter/algos/navigator/navigate.py
+++ b/robowaiter/algos/navigator/navigate.py
@@ -7,7 +7,7 @@ import pickle
 
 import matplotlib.pyplot as plt
 import numpy as np
-from robowaiter.scene import scene
+# from robowaiter.scene import scene
 
 from robowaiter.algos.navigator.dstar_lite import DStarLite, euclidean_distance
 
diff --git a/robowaiter/behavior_lib/cond/EnvExplored.py b/robowaiter/behavior_lib/cond/NeedExplore.py
similarity index 57%
rename from robowaiter/behavior_lib/cond/EnvExplored.py
rename to robowaiter/behavior_lib/cond/NeedExplore.py
index a42471d..4e31e3b 100644
--- a/robowaiter/behavior_lib/cond/EnvExplored.py
+++ b/robowaiter/behavior_lib/cond/NeedExplore.py
@@ -2,17 +2,18 @@ import py_trees as ptree
 from typing import Any
 from robowaiter.behavior_lib._base.Cond import Cond
 
-class EnvExplored(Cond):
+class NeedExplore(Cond):
     def __init__(self):
         super().__init__()
 
     def _update(self) -> ptree.common.Status:
-        arg_str = self.arg_str
-
-        if f'EnvExplored()' not in self.scene.state["condition_set"]:
-            return ptree.common.Status.SUCCESS
-        else:
-            return ptree.common.Status.FAILURE
+        # arg_str = self.arg_str
+        #
+        # if f'EnvExplored()' not in self.scene.state["condition_set"]:
+        #     return ptree.common.Status.SUCCESS
+        # else:
+        #     return ptree.common.Status.FAILURE
+        return ptree.common.Status.FAILURE
 
 
         # if self.scene.status?
diff --git a/robowaiter/robot/Default.ptml b/robowaiter/robot/Default.ptml
index d97954b..e6363f5 100644
--- a/robowaiter/robot/Default.ptml
+++ b/robowaiter/robot/Default.ptml
@@ -15,6 +15,9 @@ selector
             cond At(Robot,Bar)
             act MoveTo(Bar)
         act GreetCustomer()
+    sequence
+        cond NeedExplore()
+        act ExploreEnv()
     sequence
         cond AnomalyDetected()
         act ResolveAnomaly()
diff --git a/robowaiter/robot/Default_bracket.ptml b/robowaiter/robot/Default_bracket.ptml
index 844db49..dace919 100644
--- a/robowaiter/robot/Default_bracket.ptml
+++ b/robowaiter/robot/Default_bracket.ptml
@@ -23,6 +23,10 @@ selector
             act MoveTo(Bar)
         }        act GreetCustomer()
     }    sequence
+{
+        cond NeedExplore()
+        act ExploreEnv()
+    }    sequence
 {
         cond AnomalyDetected()
         act ResolveAnomaly()
diff --git a/robowaiter/scene/outputs/current_bt.png b/robowaiter/scene/outputs/current_bt.png
index c382351..76d2910 100644
Binary files a/robowaiter/scene/outputs/current_bt.png and b/robowaiter/scene/outputs/current_bt.png differ
diff --git a/robowaiter/utils/draw_bt/Default.ptml b/robowaiter/utils/draw_bt/Default.ptml
index 55a6f88..e6363f5 100644
--- a/robowaiter/utils/draw_bt/Default.ptml
+++ b/robowaiter/utils/draw_bt/Default.ptml
@@ -1,10 +1,23 @@
-sequence{
-cond Holding(Nothing)
-sequence{
-cond Is(Curtain,Off)
-act Turn(Curtain,On)
-}
-sequence{
-cond Is(AC,Off)
-act Turn(AC,On)
-}}
\ No newline at end of file
+selector
+    sequence
+        cond Chatting()
+        act DealChat()
+    sequence
+        cond HasSubTask()
+        sequence
+            act SubTaskPlaceHolder()
+    sequence
+        cond FocusingCustomer()
+        act ServeCustomer()
+    sequence
+        cond NewCustomer()
+        selector
+            cond At(Robot,Bar)
+            act MoveTo(Bar)
+        act GreetCustomer()
+    sequence
+        cond NeedExplore()
+        act ExploreEnv()
+    sequence
+        cond AnomalyDetected()
+        act ResolveAnomaly()
diff --git a/robowaiter/utils/draw_bt/Default_bracket.ptml b/robowaiter/utils/draw_bt/Default_bracket.ptml
index 844db49..dace919 100644
--- a/robowaiter/utils/draw_bt/Default_bracket.ptml
+++ b/robowaiter/utils/draw_bt/Default_bracket.ptml
@@ -23,6 +23,10 @@ selector
             act MoveTo(Bar)
         }        act GreetCustomer()
     }    sequence
+{
+        cond NeedExplore()
+        act ExploreEnv()
+    }    sequence
 {
         cond AnomalyDetected()
         act ResolveAnomaly()
diff --git a/robowaiter/utils/draw_bt/draw_bt.py b/robowaiter/utils/draw_bt/draw_bt.py
index 4cbb292..43a7078 100644
--- a/robowaiter/utils/draw_bt/draw_bt.py
+++ b/robowaiter/utils/draw_bt/draw_bt.py
@@ -2,9 +2,8 @@
 # from robowaiter.behavior_tree.ptml.ptmlCompiler import load
 
 import os
-from robowaiter.robot.robot import Robot
-from robowaiter.utils.bt.draw import render_dot_tree
 from robowaiter.utils.basic import get_root_path
+from robowaiter.utils.bt.draw import render_dot_tree
 from robowaiter.utils.bt.load import load_bt_from_ptml
 
 if __name__ == '__main__':
diff --git a/robowaiter/utils/draw_bt/test.png b/robowaiter/utils/draw_bt/test.png
index 15a3183..514391c 100644
Binary files a/robowaiter/utils/draw_bt/test.png and b/robowaiter/utils/draw_bt/test.png differ
diff --git a/robowaiter/utils/draw_bt/test.zip b/robowaiter/utils/draw_bt/test.zip
new file mode 100644
index 0000000..eee42a8
Binary files /dev/null and b/robowaiter/utils/draw_bt/test.zip differ