diff --git a/robowaiter/behavior_lib/_base/Act.py b/robowaiter/behavior_lib/_base/Act.py
index d2e95e5..d2b14fb 100644
--- a/robowaiter/behavior_lib/_base/Act.py
+++ b/robowaiter/behavior_lib/_base/Act.py
@@ -3,10 +3,18 @@ from robowaiter.behavior_lib._base.Behavior import Bahavior
 class Act(Bahavior):
     print_name_prefix = "act "
     type = 'Act'
-    all_place = {'Bar', 'WaterTable', 'CoffeeTable', 'Bar2', 'Table1', 'Table2', 'Table3'}
+    all_place = {'Bar', 'Bar2', 'WaterTable', 'CoffeeTable', 'Table1', 'Table2', 'Table3'}
     all_object = {'Coffee', 'Water', 'Dessert', 'Softdrink', 'BottledDrink', 'Yogurt', 'ADMilk', 'MilkDrink', 'Milk',
                   'VacuumCup'}
-
+    place_xyz_dic={
+        'Bar': (247.0, 520.0, 100.0),
+        'Bar2': (240.0, 40.0, 70.0),
+        'WaterTable':(-70.0, 500.0, 107),
+        'CoffeeTable':(247.0, 520.0, 100.0), # 位置需要更改！！！
+        'Table1': (247.0, 520.0, 100.0),# 位置需要更改！！！
+        'Table2': (-55.0, 0.0, 107),
+        'Table3':(-55.0, 150.0, 107)
+    }
     def __init__(self,*args):
         super().__init__(*args)
         self.info = self.get_info(*args)
diff --git a/robowaiter/behavior_lib/act/Clean.py b/robowaiter/behavior_lib/act/Clean.py
new file mode 100644
index 0000000..81c7af1
--- /dev/null
+++ b/robowaiter/behavior_lib/act/Clean.py
@@ -0,0 +1,47 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+from robowaiter.behavior_lib._base.Behavior import Status
+
+class Clean(Act):
+    can_be_expanded = True
+    num_args = 1
+    valid_args = (
+        'Table1','Floor','Chairs'
+    )
+
+    def __init__(self, *args):
+        super().__init__(*args)
+        self.target_obj = self.args[0]
+        self.op_type = 5
+        if self.target_obj=="Table1":
+            self.op_type = 5
+        elif self.target_obj=="Floor":
+            self.op_type = 4
+        elif self.target_obj=="Chairs":
+            self.op_type = 7
+
+
+    @classmethod
+    def get_info(cls,arg):
+        info = {}
+        info["pre"]= {f'Holding(Nothing)'}
+        if arg == "Table1":
+            info["add"]= {f'Is(Table1,Clean)'}
+            info["del"] = {f'Is(Table1,Dirty)'}
+        elif arg == "Floor":
+            info["add"] = {f'Is(Floor,Clean)'}
+            info["del"] = {f'Is(Floor,Dirty)'}
+        elif arg == "Chairs":
+            info["add"] = {f'Is(Chairs,Clean)'}
+            info["del"] = {f'Is(Chairs,Dirty)'}
+        return info
+
+    def _update(self) -> ptree.common.Status:
+
+        self.scene.move_task_area(self.op_type)
+        self.scene.op_task_execute(self.op_type)
+
+        self.scene.state["condition_set"].union(self.info["add"])
+        self.scene.state["condition_set"] -= self.info["del"]
+        return Status.RUNNING
\ No newline at end of file
diff --git a/robowaiter/behavior_lib/act/Make.py b/robowaiter/behavior_lib/act/Make.py
index ade04b1..ef97eb9 100644
--- a/robowaiter/behavior_lib/act/Make.py
+++ b/robowaiter/behavior_lib/act/Make.py
@@ -13,6 +13,13 @@ class Make(Act):
     def __init__(self, *args):
         super().__init__(*args)
         self.target_obj = self.args[0]
+        self.op_type = 1
+        if self.target_obj=="Coffee":
+            self.op_type = 1
+        elif self.target_obj=="Water":
+            self.op_type = 2
+        elif self.target_obj=="Dessert":
+            self.op_type = 3
 
 
     @classmethod
@@ -29,9 +36,10 @@ class Make(Act):
         return info
 
     def _update(self) -> ptree.common.Status:
-        op_type = 1
-        self.scene.move_task_area(op_type)
-        self.scene.op_task_execute(op_type)
+
+        self.scene.move_task_area(self.op_type)
+        self.scene.op_task_execute(self.op_type)
+
         self.scene.state["condition_set"].union(self.info["add"])
         self.scene.state["condition_set"] -= self.info["del"]
         return Status.RUNNING
\ No newline at end of file
diff --git a/robowaiter/behavior_lib/act/PickUp.py b/robowaiter/behavior_lib/act/PickUp.py
new file mode 100644
index 0000000..2e3f0f1
--- /dev/null
+++ b/robowaiter/behavior_lib/act/PickUp.py
@@ -0,0 +1,34 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+from robowaiter.behavior_lib._base.Behavior import Status
+
+class PickUp(Act):
+    can_be_expanded = True
+    num_args = 1
+
+    def __init__(self, *args):
+        super().__init__(*args)
+        self.target_obj = self.args[0]
+
+
+    @classmethod
+    def get_info(self,arg):
+        info = {}
+        info["pre"] = {f'At(Robot,{arg})','Holding(Nothing)'}
+        info["add"] = {f'Holding({arg})'}
+        info["del"] = {f'Holding(Nothing)'}
+        return info
+
+
+    def _update(self) -> ptree.common.Status:
+        # self.scene.test_move()
+        op_type=16
+        obj_id = 0
+        # 遍历场景里的所有物品，根据名字匹配位置最近的 obj-id
+
+        self.scene.op_task_execute(op_type, obj_id=obj_id)
+
+        self.scene.state["condition_set"].union(self.info["add"])
+        self.scene.state["condition_set"] -= self.info["del"]
+        return Status.RUNNING
diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py
new file mode 100644
index 0000000..0fe363c
--- /dev/null
+++ b/robowaiter/behavior_lib/act/PutDown.py
@@ -0,0 +1,35 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+from robowaiter.behavior_lib._base.Behavior import Status
+
+class PutDown(Act):
+    can_be_expanded = True
+    num_args = 1
+
+    def __init__(self, *args):
+        super().__init__(*args)
+        self.target_obj = self.args[0]
+        self.target_place = self.args[1]
+
+
+    @classmethod
+    def get_info(self,arg):
+        info = {}
+        info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'}
+        info["add"] = {f'Holding(Nothing)',f'At({arg[0]},{arg[1]})'}
+        info["del"] = {f'Holding(Nothing)'}
+        return info
+
+
+    def _update(self) -> ptree.common.Status:
+        # self.scene.test_move()
+        op_type=17
+        release_pos = list(Act.place_xyz_dic[self.target_place])
+        # # 原始吧台处:[247.0, 520.0, 100.0], 空调开关旁吧台:[240.0, 40.0, 70.0], 水杯桌:[-70.0, 500.0, 107]
+        # # 桌子2:[-55.0, 0.0, 107],桌子3:[-55.0, 150.0, 107]
+        self.scene.op_task_execute(op_type, release_pos=release_pos)
+
+        self.scene.state["condition_set"].union(self.info["add"])
+        self.scene.state["condition_set"] -= self.info["del"]
+        return Status.RUNNING
diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py
new file mode 100644
index 0000000..ed47bde
--- /dev/null
+++ b/robowaiter/behavior_lib/act/Turn.py
@@ -0,0 +1,64 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+from robowaiter.behavior_lib._base.Behavior import Status
+
+class Clean(Act):
+    can_be_expanded = True
+    num_args = 1
+    valid_args = [('AC','ACTemperature','TubeLight','HallLight','Curtain'),
+            ('Off','On','Up','Down','Clean','Dirty')]
+
+    def __init__(self, *args):
+        super().__init__(*args)
+        self.target_obj = self.args[0]
+        self.op = self.args[1]
+        self.op_type = 13
+
+        if self.target_obj=="AC":
+            self.op_type = 13
+        elif self.target_obj=="ACTemperature":
+            if self.op == 'Up':
+                self.op_type = 14
+            elif self.op == 'Down':
+                self.op_type = 15
+        elif self.target_obj=="TubeLight":
+            if self.op == 'On':
+                self.op_type = 6
+            elif self.op == 'Off':
+                self.op_type = 8
+        elif self.target_obj=="HallLight":
+            if self.op == 'On':
+                self.op_type = 9
+            elif self.op == 'Off':
+                self.op_type = 10
+        elif self.target_obj=="Curtain":
+            if self.op == 'On':
+                self.op_type = 11
+            elif self.op == 'Off':
+                self.op_type = 12
+
+    @classmethod
+    def get_info(cls,arg):
+        info = {}
+        # 明天写
+        # info["pre"]= {f'Holding(Nothing)'}
+        # if arg == "Table1":
+        #     info["add"]= {f'Is(Table1,Clean)'}
+        #     info["del"] = {f'Is(Table1,Dirty)'}
+        # elif arg == "Floor":
+        #     info["add"] = {f'Is(Floor,Clean)'}
+        #     info["del"] = {f'Is(Floor,Dirty)'}
+        # elif arg == "Chairs":
+        #     info["add"] = {f'Is(Chairs,Clean)'}
+        #     info["del"] = {f'Is(Chairs,Dirty)'}
+        return info
+
+    def _update(self) -> ptree.common.Status:
+
+        self.scene.move_task_area(self.op_type)
+        self.scene.op_task_execute(self.op_type)
+
+        self.scene.state["condition_set"].union(self.info["add"])
+        self.scene.state["condition_set"] -= self.info["del"]
+        return Status.RUNNING
\ No newline at end of file