diff --git a/.gitignore b/.gitignore
index f79158d..46cfe0c 100644
--- a/.gitignore
+++ b/.gitignore
@@ -151,3 +151,9 @@ cython_debug/
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 .idea/
 test.py
+
+# antlr tempory files
+.antlr/
+
+# pyc files
+__pycache__/
diff --git a/ptml/btAPI.py b/ptml/BT_api.py
similarity index 100%
rename from ptml/btAPI.py
rename to ptml/BT_api.py
diff --git a/ptml/CoffeeDelivery.ptml b/ptml/CoffeeDelivery.ptml
index 4bb2648..82d129d 100644
--- a/ptml/CoffeeDelivery.ptml
+++ b/ptml/CoffeeDelivery.ptml
@@ -1,13 +1,16 @@
 sequence:
-    select:
+    selector:
         cond CoffeeCupFound()
-        act FindCoffeeCup()
-    select:
+        task FindCoffeeCup()
+        sequence:
+            cond SeqTest()
+            task Move()
+    selector:
         cond CoffeeCupGrasped()
-        act GraspCoffeeCup()
-    select:
+        task GraspCoffeeCup()
+    selector:
         cond DestinationAReached()
-        act ReachDestinationA()
-    select:
+        task ReachDestinationA()
+    selector:
         cond CoffeeCupPlaced()
-        act PlaceCoffeeCup()
\ No newline at end of file
+        task PlaceCoffeeCup()
\ No newline at end of file
diff --git a/ptml/ptml.g4 b/ptml/ptml.g4
index 18dbeb9..b995706 100644
--- a/ptml/ptml.g4
+++ b/ptml/ptml.g4
@@ -1,8 +1,10 @@
 grammar ptml;
 
-tree    		: internal_node ':' (action_sign|tree)+ EOF;
+root            : tree+ EOF;
+
+tree    		: internal_node ':' (action_sign|tree)+ ;
 internal_node   : 'sequence' | 'selector' | 'parallel' Integer | 'decorator' ;
-action_sign     : ('act'|'cond') Names '(' action_parm? ')';
+action_sign     : ('task'|'cond') Names '(' action_parm? ')';
 action_parm     : (var_decls|Integer|Float|boolean) (',' (var_decls|Integer|Float|boolean))* ;
 var_decls		: var_type Names ;
 var_type		: 'int' | 'float' | 'bool' | 'string' ;
diff --git a/ptml/ptml.interp b/ptml/ptml.interp
index 3f09396..1dcc5d2 100644
--- a/ptml/ptml.interp
+++ b/ptml/ptml.interp
@@ -5,7 +5,7 @@ null
 'selector'
 'parallel'
 'decorator'
-'act'
+'task'
 'cond'
 '('
 ')'
@@ -47,6 +47,7 @@ LINE_COMMENT
 WS
 
 rule names:
+root
 tree
 internal_node
 action_sign
@@ -57,4 +58,4 @@ boolean
 
 
 atn:
-[4, 1, 21, 65, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 1, 0, 1, 0, 1, 0, 1, 0, 4, 0, 19, 8, 0, 11, 0, 12, 0, 20, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 3, 1, 30, 8, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 36, 8, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 44, 8, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 51, 8, 3, 5, 3, 53, 8, 3, 10, 3, 12, 3, 56, 9, 3, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 0, 0, 7, 0, 2, 4, 6, 8, 10, 12, 0, 3, 1, 0, 6, 7, 1, 0, 11, 14, 1, 0, 15, 16, 70, 0, 14, 1, 0, 0, 0, 2, 29, 1, 0, 0, 0, 4, 31, 1, 0, 0, 0, 6, 43, 1, 0, 0, 0, 8, 57, 1, 0, 0, 0, 10, 60, 1, 0, 0, 0, 12, 62, 1, 0, 0, 0, 14, 15, 3, 2, 1, 0, 15, 18, 5, 1, 0, 0, 16, 19, 3, 4, 2, 0, 17, 19, 3, 0, 0, 0, 18, 16, 1, 0, 0, 0, 18, 17, 1, 0, 0, 0, 19, 20, 1, 0, 0, 0, 20, 18, 1, 0, 0, 0, 20, 21, 1, 0, 0, 0, 21, 22, 1, 0, 0, 0, 22, 23, 5, 0, 0, 1, 23, 1, 1, 0, 0, 0, 24, 30, 5, 2, 0, 0, 25, 30, 5, 3, 0, 0, 26, 27, 5, 4, 0, 0, 27, 30, 5, 18, 0, 0, 28, 30, 5, 5, 0, 0, 29, 24, 1, 0, 0, 0, 29, 25, 1, 0, 0, 0, 29, 26, 1, 0, 0, 0, 29, 28, 1, 0, 0, 0, 30, 3, 1, 0, 0, 0, 31, 32, 7, 0, 0, 0, 32, 33, 5, 17, 0, 0, 33, 35, 5, 8, 0, 0, 34, 36, 3, 6, 3, 0, 35, 34, 1, 0, 0, 0, 35, 36, 1, 0, 0, 0, 36, 37, 1, 0, 0, 0, 37, 38, 5, 9, 0, 0, 38, 5, 1, 0, 0, 0, 39, 44, 3, 8, 4, 0, 40, 44, 5, 18, 0, 0, 41, 44, 5, 19, 0, 0, 42, 44, 3, 12, 6, 0, 43, 39, 1, 0, 0, 0, 43, 40, 1, 0, 0, 0, 43, 41, 1, 0, 0, 0, 43, 42, 1, 0, 0, 0, 44, 54, 1, 0, 0, 0, 45, 50, 5, 10, 0, 0, 46, 51, 3, 8, 4, 0, 47, 51, 5, 18, 0, 0, 48, 51, 5, 19, 0, 0, 49, 51, 3, 12, 6, 0, 50, 46, 1, 0, 0, 0, 50, 47, 1, 0, 0, 0, 50, 48, 1, 0, 0, 0, 50, 49, 1, 0, 0, 0, 51, 53, 1, 0, 0, 0, 52, 45, 1, 0, 0, 0, 53, 56, 1, 0, 0, 0, 54, 52, 1, 0, 0, 0, 54, 55, 1, 0, 0, 0, 55, 7, 1, 0, 0, 0, 56, 54, 1, 0, 0, 0, 57, 58, 3, 10, 5, 0, 58, 59, 5, 17, 0, 0, 59, 9, 1, 0, 0, 0, 60, 61, 7, 1, 0, 0, 61, 11, 1, 0, 0, 0, 62, 63, 7, 2, 0, 0, 63, 13, 1, 0, 0, 0, 7, 18, 20, 29, 35, 43, 50, 54]
\ No newline at end of file
+[4, 1, 21, 72, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 1, 0, 4, 0, 18, 8, 0, 11, 0, 12, 0, 19, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 28, 8, 1, 11, 1, 12, 1, 29, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 37, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 43, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 51, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 58, 8, 4, 5, 4, 60, 8, 4, 10, 4, 12, 4, 63, 9, 4, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 7, 1, 7, 1, 7, 0, 0, 8, 0, 2, 4, 6, 8, 10, 12, 14, 0, 3, 1, 0, 6, 7, 1, 0, 11, 14, 1, 0, 15, 16, 77, 0, 17, 1, 0, 0, 0, 2, 23, 1, 0, 0, 0, 4, 36, 1, 0, 0, 0, 6, 38, 1, 0, 0, 0, 8, 50, 1, 0, 0, 0, 10, 64, 1, 0, 0, 0, 12, 67, 1, 0, 0, 0, 14, 69, 1, 0, 0, 0, 16, 18, 3, 2, 1, 0, 17, 16, 1, 0, 0, 0, 18, 19, 1, 0, 0, 0, 19, 17, 1, 0, 0, 0, 19, 20, 1, 0, 0, 0, 20, 21, 1, 0, 0, 0, 21, 22, 5, 0, 0, 1, 22, 1, 1, 0, 0, 0, 23, 24, 3, 4, 2, 0, 24, 27, 5, 1, 0, 0, 25, 28, 3, 6, 3, 0, 26, 28, 3, 2, 1, 0, 27, 25, 1, 0, 0, 0, 27, 26, 1, 0, 0, 0, 28, 29, 1, 0, 0, 0, 29, 27, 1, 0, 0, 0, 29, 30, 1, 0, 0, 0, 30, 3, 1, 0, 0, 0, 31, 37, 5, 2, 0, 0, 32, 37, 5, 3, 0, 0, 33, 34, 5, 4, 0, 0, 34, 37, 5, 18, 0, 0, 35, 37, 5, 5, 0, 0, 36, 31, 1, 0, 0, 0, 36, 32, 1, 0, 0, 0, 36, 33, 1, 0, 0, 0, 36, 35, 1, 0, 0, 0, 37, 5, 1, 0, 0, 0, 38, 39, 7, 0, 0, 0, 39, 40, 5, 17, 0, 0, 40, 42, 5, 8, 0, 0, 41, 43, 3, 8, 4, 0, 42, 41, 1, 0, 0, 0, 42, 43, 1, 0, 0, 0, 43, 44, 1, 0, 0, 0, 44, 45, 5, 9, 0, 0, 45, 7, 1, 0, 0, 0, 46, 51, 3, 10, 5, 0, 47, 51, 5, 18, 0, 0, 48, 51, 5, 19, 0, 0, 49, 51, 3, 14, 7, 0, 50, 46, 1, 0, 0, 0, 50, 47, 1, 0, 0, 0, 50, 48, 1, 0, 0, 0, 50, 49, 1, 0, 0, 0, 51, 61, 1, 0, 0, 0, 52, 57, 5, 10, 0, 0, 53, 58, 3, 10, 5, 0, 54, 58, 5, 18, 0, 0, 55, 58, 5, 19, 0, 0, 56, 58, 3, 14, 7, 0, 57, 53, 1, 0, 0, 0, 57, 54, 1, 0, 0, 0, 57, 55, 1, 0, 0, 0, 57, 56, 1, 0, 0, 0, 58, 60, 1, 0, 0, 0, 59, 52, 1, 0, 0, 0, 60, 63, 1, 0, 0, 0, 61, 59, 1, 0, 0, 0, 61, 62, 1, 0, 0, 0, 62, 9, 1, 0, 0, 0, 63, 61, 1, 0, 0, 0, 64, 65, 3, 12, 6, 0, 65, 66, 5, 17, 0, 0, 66, 11, 1, 0, 0, 0, 67, 68, 7, 1, 0, 0, 68, 13, 1, 0, 0, 0, 69, 70, 7, 2, 0, 0, 70, 15, 1, 0, 0, 0, 8, 19, 27, 29, 36, 42, 50, 57, 61]
\ No newline at end of file
diff --git a/ptml/ptml.tokens b/ptml/ptml.tokens
index 8b08964..cde89de 100644
--- a/ptml/ptml.tokens
+++ b/ptml/ptml.tokens
@@ -24,7 +24,7 @@ WS=21
 'selector'=3
 'parallel'=4
 'decorator'=5
-'act'=6
+'task'=6
 'cond'=7
 '('=8
 ')'=9
diff --git a/ptml/ptmlLexer.interp b/ptml/ptmlLexer.interp
index eee8552..f2e4db7 100644
--- a/ptml/ptmlLexer.interp
+++ b/ptml/ptmlLexer.interp
@@ -5,7 +5,7 @@ null
 'selector'
 'parallel'
 'decorator'
-'act'
+'task'
 'cond'
 '('
 ')'
@@ -77,4 +77,4 @@ mode names:
 DEFAULT_MODE
 
 atn:
-[4, 0, 21, 193, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 2, 17, 7, 17, 2, 18, 7, 18, 2, 19, 7, 19, 2, 20, 7, 20, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 1, 12, 1, 12, 1, 12, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 14, 1, 14, 1, 14, 1, 14, 1, 14, 1, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 1, 16, 5, 16, 133, 8, 16, 10, 16, 12, 16, 136, 9, 16, 1, 17, 3, 17, 139, 8, 17, 1, 17, 1, 17, 5, 17, 143, 8, 17, 10, 17, 12, 17, 146, 9, 17, 1, 17, 3, 17, 149, 8, 17, 1, 18, 4, 18, 152, 8, 18, 11, 18, 12, 18, 153, 1, 18, 1, 18, 5, 18, 158, 8, 18, 10, 18, 12, 18, 161, 9, 18, 1, 18, 1, 18, 4, 18, 165, 8, 18, 11, 18, 12, 18, 166, 3, 18, 169, 8, 18, 1, 19, 1, 19, 1, 19, 1, 19, 5, 19, 175, 8, 19, 10, 19, 12, 19, 178, 9, 19, 1, 19, 3, 19, 181, 8, 19, 1, 19, 1, 19, 1, 19, 1, 19, 1, 20, 4, 20, 188, 8, 20, 11, 20, 12, 20, 189, 1, 20, 1, 20, 1, 176, 0, 21, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 35, 18, 37, 19, 39, 20, 41, 21, 1, 0, 5, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 1, 0, 49, 57, 1, 0, 48, 57, 3, 0, 9, 10, 12, 13, 32, 32, 203, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 0, 35, 1, 0, 0, 0, 0, 37, 1, 0, 0, 0, 0, 39, 1, 0, 0, 0, 0, 41, 1, 0, 0, 0, 1, 43, 1, 0, 0, 0, 3, 45, 1, 0, 0, 0, 5, 54, 1, 0, 0, 0, 7, 63, 1, 0, 0, 0, 9, 72, 1, 0, 0, 0, 11, 82, 1, 0, 0, 0, 13, 86, 1, 0, 0, 0, 15, 91, 1, 0, 0, 0, 17, 93, 1, 0, 0, 0, 19, 95, 1, 0, 0, 0, 21, 97, 1, 0, 0, 0, 23, 101, 1, 0, 0, 0, 25, 107, 1, 0, 0, 0, 27, 112, 1, 0, 0, 0, 29, 119, 1, 0, 0, 0, 31, 124, 1, 0, 0, 0, 33, 130, 1, 0, 0, 0, 35, 148, 1, 0, 0, 0, 37, 168, 1, 0, 0, 0, 39, 170, 1, 0, 0, 0, 41, 187, 1, 0, 0, 0, 43, 44, 5, 58, 0, 0, 44, 2, 1, 0, 0, 0, 45, 46, 5, 115, 0, 0, 46, 47, 5, 101, 0, 0, 47, 48, 5, 113, 0, 0, 48, 49, 5, 117, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 110, 0, 0, 51, 52, 5, 99, 0, 0, 52, 53, 5, 101, 0, 0, 53, 4, 1, 0, 0, 0, 54, 55, 5, 115, 0, 0, 55, 56, 5, 101, 0, 0, 56, 57, 5, 108, 0, 0, 57, 58, 5, 101, 0, 0, 58, 59, 5, 99, 0, 0, 59, 60, 5, 116, 0, 0, 60, 61, 5, 111, 0, 0, 61, 62, 5, 114, 0, 0, 62, 6, 1, 0, 0, 0, 63, 64, 5, 112, 0, 0, 64, 65, 5, 97, 0, 0, 65, 66, 5, 114, 0, 0, 66, 67, 5, 97, 0, 0, 67, 68, 5, 108, 0, 0, 68, 69, 5, 108, 0, 0, 69, 70, 5, 101, 0, 0, 70, 71, 5, 108, 0, 0, 71, 8, 1, 0, 0, 0, 72, 73, 5, 100, 0, 0, 73, 74, 5, 101, 0, 0, 74, 75, 5, 99, 0, 0, 75, 76, 5, 111, 0, 0, 76, 77, 5, 114, 0, 0, 77, 78, 5, 97, 0, 0, 78, 79, 5, 116, 0, 0, 79, 80, 5, 111, 0, 0, 80, 81, 5, 114, 0, 0, 81, 10, 1, 0, 0, 0, 82, 83, 5, 97, 0, 0, 83, 84, 5, 99, 0, 0, 84, 85, 5, 116, 0, 0, 85, 12, 1, 0, 0, 0, 86, 87, 5, 99, 0, 0, 87, 88, 5, 111, 0, 0, 88, 89, 5, 110, 0, 0, 89, 90, 5, 100, 0, 0, 90, 14, 1, 0, 0, 0, 91, 92, 5, 40, 0, 0, 92, 16, 1, 0, 0, 0, 93, 94, 5, 41, 0, 0, 94, 18, 1, 0, 0, 0, 95, 96, 5, 44, 0, 0, 96, 20, 1, 0, 0, 0, 97, 98, 5, 105, 0, 0, 98, 99, 5, 110, 0, 0, 99, 100, 5, 116, 0, 0, 100, 22, 1, 0, 0, 0, 101, 102, 5, 102, 0, 0, 102, 103, 5, 108, 0, 0, 103, 104, 5, 111, 0, 0, 104, 105, 5, 97, 0, 0, 105, 106, 5, 116, 0, 0, 106, 24, 1, 0, 0, 0, 107, 108, 5, 98, 0, 0, 108, 109, 5, 111, 0, 0, 109, 110, 5, 111, 0, 0, 110, 111, 5, 108, 0, 0, 111, 26, 1, 0, 0, 0, 112, 113, 5, 115, 0, 0, 113, 114, 5, 116, 0, 0, 114, 115, 5, 114, 0, 0, 115, 116, 5, 105, 0, 0, 116, 117, 5, 110, 0, 0, 117, 118, 5, 103, 0, 0, 118, 28, 1, 0, 0, 0, 119, 120, 5, 84, 0, 0, 120, 121, 5, 114, 0, 0, 121, 122, 5, 117, 0, 0, 122, 123, 5, 101, 0, 0, 123, 30, 1, 0, 0, 0, 124, 125, 5, 70, 0, 0, 125, 126, 5, 97, 0, 0, 126, 127, 5, 108, 0, 0, 127, 128, 5, 115, 0, 0, 128, 129, 5, 101, 0, 0, 129, 32, 1, 0, 0, 0, 130, 134, 7, 0, 0, 0, 131, 133, 7, 1, 0, 0, 132, 131, 1, 0, 0, 0, 133, 136, 1, 0, 0, 0, 134, 132, 1, 0, 0, 0, 134, 135, 1, 0, 0, 0, 135, 34, 1, 0, 0, 0, 136, 134, 1, 0, 0, 0, 137, 139, 5, 45, 0, 0, 138, 137, 1, 0, 0, 0, 138, 139, 1, 0, 0, 0, 139, 140, 1, 0, 0, 0, 140, 144, 7, 2, 0, 0, 141, 143, 7, 3, 0, 0, 142, 141, 1, 0, 0, 0, 143, 146, 1, 0, 0, 0, 144, 142, 1, 0, 0, 0, 144, 145, 1, 0, 0, 0, 145, 149, 1, 0, 0, 0, 146, 144, 1, 0, 0, 0, 147, 149, 5, 48, 0, 0, 148, 138, 1, 0, 0, 0, 148, 147, 1, 0, 0, 0, 149, 36, 1, 0, 0, 0, 150, 152, 7, 3, 0, 0, 151, 150, 1, 0, 0, 0, 152, 153, 1, 0, 0, 0, 153, 151, 1, 0, 0, 0, 153, 154, 1, 0, 0, 0, 154, 155, 1, 0, 0, 0, 155, 159, 5, 46, 0, 0, 156, 158, 7, 3, 0, 0, 157, 156, 1, 0, 0, 0, 158, 161, 1, 0, 0, 0, 159, 157, 1, 0, 0, 0, 159, 160, 1, 0, 0, 0, 160, 169, 1, 0, 0, 0, 161, 159, 1, 0, 0, 0, 162, 164, 5, 46, 0, 0, 163, 165, 7, 3, 0, 0, 164, 163, 1, 0, 0, 0, 165, 166, 1, 0, 0, 0, 166, 164, 1, 0, 0, 0, 166, 167, 1, 0, 0, 0, 167, 169, 1, 0, 0, 0, 168, 151, 1, 0, 0, 0, 168, 162, 1, 0, 0, 0, 169, 38, 1, 0, 0, 0, 170, 171, 5, 47, 0, 0, 171, 172, 5, 47, 0, 0, 172, 176, 1, 0, 0, 0, 173, 175, 9, 0, 0, 0, 174, 173, 1, 0, 0, 0, 175, 178, 1, 0, 0, 0, 176, 177, 1, 0, 0, 0, 176, 174, 1, 0, 0, 0, 177, 180, 1, 0, 0, 0, 178, 176, 1, 0, 0, 0, 179, 181, 5, 13, 0, 0, 180, 179, 1, 0, 0, 0, 180, 181, 1, 0, 0, 0, 181, 182, 1, 0, 0, 0, 182, 183, 5, 10, 0, 0, 183, 184, 1, 0, 0, 0, 184, 185, 6, 19, 0, 0, 185, 40, 1, 0, 0, 0, 186, 188, 7, 4, 0, 0, 187, 186, 1, 0, 0, 0, 188, 189, 1, 0, 0, 0, 189, 187, 1, 0, 0, 0, 189, 190, 1, 0, 0, 0, 190, 191, 1, 0, 0, 0, 191, 192, 6, 20, 0, 0, 192, 42, 1, 0, 0, 0, 12, 0, 134, 138, 144, 148, 153, 159, 166, 168, 176, 180, 189, 1, 6, 0, 0]
\ No newline at end of file
+[4, 0, 21, 194, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 2, 17, 7, 17, 2, 18, 7, 18, 2, 19, 7, 19, 2, 20, 7, 20, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 1, 12, 1, 12, 1, 12, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 14, 1, 14, 1, 14, 1, 14, 1, 14, 1, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 1, 16, 5, 16, 134, 8, 16, 10, 16, 12, 16, 137, 9, 16, 1, 17, 3, 17, 140, 8, 17, 1, 17, 1, 17, 5, 17, 144, 8, 17, 10, 17, 12, 17, 147, 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188, 1, 0, 0, 0, 190, 191, 1, 0, 0, 0, 191, 192, 1, 0, 0, 0, 192, 193, 6, 20, 0, 0, 193, 42, 1, 0, 0, 0, 12, 0, 135, 139, 145, 149, 154, 160, 167, 169, 177, 181, 190, 1, 6, 0, 0]
\ No newline at end of file
diff --git a/ptml/ptmlLexer.py b/ptml/ptmlLexer.py
index 9620bec..85d6411 100644
--- a/ptml/ptmlLexer.py
+++ b/ptml/ptmlLexer.py
@@ -10,75 +10,75 @@ else:
 
 def serializedATN():
     return [
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         2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2,
         13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,2,17,7,17,2,18,7,18,2,19,7,
         19,2,20,7,20,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,2,1,2,
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-        12,20,189,1,20,1,20,1,176,0,21,1,1,3,2,5,3,7,4,9,5,11,6,13,7,15,
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+        37,19,39,20,41,21,1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,
+        95,97,122,1,0,49,57,1,0,48,57,3,0,9,10,12,13,32,32,204,0,1,1,0,0,
+        0,0,3,1,0,0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,0,11,1,0,0,0,0,
+        13,1,0,0,0,0,15,1,0,0,0,0,17,1,0,0,0,0,19,1,0,0,0,0,21,1,0,0,0,0,
+        23,1,0,0,0,0,25,1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,
+        33,1,0,0,0,0,35,1,0,0,0,0,37,1,0,0,0,0,39,1,0,0,0,0,41,1,0,0,0,1,
+        43,1,0,0,0,3,45,1,0,0,0,5,54,1,0,0,0,7,63,1,0,0,0,9,72,1,0,0,0,11,
+        82,1,0,0,0,13,87,1,0,0,0,15,92,1,0,0,0,17,94,1,0,0,0,19,96,1,0,0,
+        0,21,98,1,0,0,0,23,102,1,0,0,0,25,108,1,0,0,0,27,113,1,0,0,0,29,
+        120,1,0,0,0,31,125,1,0,0,0,33,131,1,0,0,0,35,149,1,0,0,0,37,169,
+        1,0,0,0,39,171,1,0,0,0,41,188,1,0,0,0,43,44,5,58,0,0,44,2,1,0,0,
+        0,45,46,5,115,0,0,46,47,5,101,0,0,47,48,5,113,0,0,48,49,5,117,0,
+        0,49,50,5,101,0,0,50,51,5,110,0,0,51,52,5,99,0,0,52,53,5,101,0,0,
+        53,4,1,0,0,0,54,55,5,115,0,0,55,56,5,101,0,0,56,57,5,108,0,0,57,
+        58,5,101,0,0,58,59,5,99,0,0,59,60,5,116,0,0,60,61,5,111,0,0,61,62,
+        5,114,0,0,62,6,1,0,0,0,63,64,5,112,0,0,64,65,5,97,0,0,65,66,5,114,
+        0,0,66,67,5,97,0,0,67,68,5,108,0,0,68,69,5,108,0,0,69,70,5,101,0,
+        0,70,71,5,108,0,0,71,8,1,0,0,0,72,73,5,100,0,0,73,74,5,101,0,0,74,
+        75,5,99,0,0,75,76,5,111,0,0,76,77,5,114,0,0,77,78,5,97,0,0,78,79,
+        5,116,0,0,79,80,5,111,0,0,80,81,5,114,0,0,81,10,1,0,0,0,82,83,5,
+        116,0,0,83,84,5,97,0,0,84,85,5,115,0,0,85,86,5,107,0,0,86,12,1,0,
+        0,0,87,88,5,99,0,0,88,89,5,111,0,0,89,90,5,110,0,0,90,91,5,100,0,
+        0,91,14,1,0,0,0,92,93,5,40,0,0,93,16,1,0,0,0,94,95,5,41,0,0,95,18,
+        1,0,0,0,96,97,5,44,0,0,97,20,1,0,0,0,98,99,5,105,0,0,99,100,5,110,
+        0,0,100,101,5,116,0,0,101,22,1,0,0,0,102,103,5,102,0,0,103,104,5,
+        108,0,0,104,105,5,111,0,0,105,106,5,97,0,0,106,107,5,116,0,0,107,
+        24,1,0,0,0,108,109,5,98,0,0,109,110,5,111,0,0,110,111,5,111,0,0,
+        111,112,5,108,0,0,112,26,1,0,0,0,113,114,5,115,0,0,114,115,5,116,
+        0,0,115,116,5,114,0,0,116,117,5,105,0,0,117,118,5,110,0,0,118,119,
+        5,103,0,0,119,28,1,0,0,0,120,121,5,84,0,0,121,122,5,114,0,0,122,
+        123,5,117,0,0,123,124,5,101,0,0,124,30,1,0,0,0,125,126,5,70,0,0,
+        126,127,5,97,0,0,127,128,5,108,0,0,128,129,5,115,0,0,129,130,5,101,
+        0,0,130,32,1,0,0,0,131,135,7,0,0,0,132,134,7,1,0,0,133,132,1,0,0,
+        0,134,137,1,0,0,0,135,133,1,0,0,0,135,136,1,0,0,0,136,34,1,0,0,0,
+        137,135,1,0,0,0,138,140,5,45,0,0,139,138,1,0,0,0,139,140,1,0,0,0,
+        140,141,1,0,0,0,141,145,7,2,0,0,142,144,7,3,0,0,143,142,1,0,0,0,
+        144,147,1,0,0,0,145,143,1,0,0,0,145,146,1,0,0,0,146,150,1,0,0,0,
+        147,145,1,0,0,0,148,150,5,48,0,0,149,139,1,0,0,0,149,148,1,0,0,0,
+        150,36,1,0,0,0,151,153,7,3,0,0,152,151,1,0,0,0,153,154,1,0,0,0,154,
+        152,1,0,0,0,154,155,1,0,0,0,155,156,1,0,0,0,156,160,5,46,0,0,157,
+        159,7,3,0,0,158,157,1,0,0,0,159,162,1,0,0,0,160,158,1,0,0,0,160,
+        161,1,0,0,0,161,170,1,0,0,0,162,160,1,0,0,0,163,165,5,46,0,0,164,
+        166,7,3,0,0,165,164,1,0,0,0,166,167,1,0,0,0,167,165,1,0,0,0,167,
+        168,1,0,0,0,168,170,1,0,0,0,169,152,1,0,0,0,169,163,1,0,0,0,170,
+        38,1,0,0,0,171,172,5,47,0,0,172,173,5,47,0,0,173,177,1,0,0,0,174,
+        176,9,0,0,0,175,174,1,0,0,0,176,179,1,0,0,0,177,178,1,0,0,0,177,
+        175,1,0,0,0,178,181,1,0,0,0,179,177,1,0,0,0,180,182,5,13,0,0,181,
+        180,1,0,0,0,181,182,1,0,0,0,182,183,1,0,0,0,183,184,5,10,0,0,184,
+        185,1,0,0,0,185,186,6,19,0,0,186,40,1,0,0,0,187,189,7,4,0,0,188,
+        187,1,0,0,0,189,190,1,0,0,0,190,188,1,0,0,0,190,191,1,0,0,0,191,
+        192,1,0,0,0,192,193,6,20,0,0,193,42,1,0,0,0,12,0,135,139,145,149,
+        154,160,167,169,177,181,190,1,6,0,0
     ]
 
 class ptmlLexer(Lexer):
@@ -115,7 +115,7 @@ class ptmlLexer(Lexer):
 
     literalNames = [ "<INVALID>",
             "':'", "'sequence'", "'selector'", "'parallel'", "'decorator'", 
-            "'act'", "'cond'", "'('", "')'", "','", "'int'", "'float'", 
+            "'task'", "'cond'", "'('", "')'", "','", "'int'", "'float'", 
             "'bool'", "'string'", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>",
diff --git a/ptml/ptmlLexer.tokens b/ptml/ptmlLexer.tokens
index 8b08964..cde89de 100644
--- a/ptml/ptmlLexer.tokens
+++ b/ptml/ptmlLexer.tokens
@@ -24,7 +24,7 @@ WS=21
 'selector'=3
 'parallel'=4
 'decorator'=5
-'act'=6
+'task'=6
 'cond'=7
 '('=8
 ')'=9
diff --git a/ptml/ptmlListener.py b/ptml/ptmlListener.py
index 578d756..1f5118b 100644
--- a/ptml/ptmlListener.py
+++ b/ptml/ptmlListener.py
@@ -8,6 +8,15 @@ else:
 # This class defines a complete listener for a parse tree produced by ptmlParser.
 class ptmlListener(ParseTreeListener):
 
+    # Enter a parse tree produced by ptmlParser#root.
+    def enterRoot(self, ctx:ptmlParser.RootContext):
+        pass
+
+    # Exit a parse tree produced by ptmlParser#root.
+    def exitRoot(self, ctx:ptmlParser.RootContext):
+        pass
+
+
     # Enter a parse tree produced by ptmlParser#tree.
     def enterTree(self, ctx:ptmlParser.TreeContext):
         pass
diff --git a/ptml/ptmlParser.py b/ptml/ptmlParser.py
index 908dccc..f57b639 100644
--- a/ptml/ptmlParser.py
+++ b/ptml/ptmlParser.py
@@ -10,27 +10,30 @@ else:
 
 def serializedATN():
     return [
-        4,1,21,65,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,2,6,7,
-        6,1,0,1,0,1,0,1,0,4,0,19,8,0,11,0,12,0,20,1,0,1,0,1,1,1,1,1,1,1,
-        1,1,1,3,1,30,8,1,1,2,1,2,1,2,1,2,3,2,36,8,2,1,2,1,2,1,3,1,3,1,3,
-        1,3,3,3,44,8,3,1,3,1,3,1,3,1,3,1,3,3,3,51,8,3,5,3,53,8,3,10,3,12,
-        3,56,9,3,1,4,1,4,1,4,1,5,1,5,1,6,1,6,1,6,0,0,7,0,2,4,6,8,10,12,0,
-        3,1,0,6,7,1,0,11,14,1,0,15,16,70,0,14,1,0,0,0,2,29,1,0,0,0,4,31,
-        1,0,0,0,6,43,1,0,0,0,8,57,1,0,0,0,10,60,1,0,0,0,12,62,1,0,0,0,14,
-        15,3,2,1,0,15,18,5,1,0,0,16,19,3,4,2,0,17,19,3,0,0,0,18,16,1,0,0,
-        0,18,17,1,0,0,0,19,20,1,0,0,0,20,18,1,0,0,0,20,21,1,0,0,0,21,22,
-        1,0,0,0,22,23,5,0,0,1,23,1,1,0,0,0,24,30,5,2,0,0,25,30,5,3,0,0,26,
-        27,5,4,0,0,27,30,5,18,0,0,28,30,5,5,0,0,29,24,1,0,0,0,29,25,1,0,
-        0,0,29,26,1,0,0,0,29,28,1,0,0,0,30,3,1,0,0,0,31,32,7,0,0,0,32,33,
-        5,17,0,0,33,35,5,8,0,0,34,36,3,6,3,0,35,34,1,0,0,0,35,36,1,0,0,0,
-        36,37,1,0,0,0,37,38,5,9,0,0,38,5,1,0,0,0,39,44,3,8,4,0,40,44,5,18,
-        0,0,41,44,5,19,0,0,42,44,3,12,6,0,43,39,1,0,0,0,43,40,1,0,0,0,43,
-        41,1,0,0,0,43,42,1,0,0,0,44,54,1,0,0,0,45,50,5,10,0,0,46,51,3,8,
-        4,0,47,51,5,18,0,0,48,51,5,19,0,0,49,51,3,12,6,0,50,46,1,0,0,0,50,
-        47,1,0,0,0,50,48,1,0,0,0,50,49,1,0,0,0,51,53,1,0,0,0,52,45,1,0,0,
-        0,53,56,1,0,0,0,54,52,1,0,0,0,54,55,1,0,0,0,55,7,1,0,0,0,56,54,1,
-        0,0,0,57,58,3,10,5,0,58,59,5,17,0,0,59,9,1,0,0,0,60,61,7,1,0,0,61,
-        11,1,0,0,0,62,63,7,2,0,0,63,13,1,0,0,0,7,18,20,29,35,43,50,54
+        4,1,21,72,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,2,6,7,
+        6,2,7,7,7,1,0,4,0,18,8,0,11,0,12,0,19,1,0,1,0,1,1,1,1,1,1,1,1,4,
+        1,28,8,1,11,1,12,1,29,1,2,1,2,1,2,1,2,1,2,3,2,37,8,2,1,3,1,3,1,3,
+        1,3,3,3,43,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,51,8,4,1,4,1,4,1,4,1,
+        4,1,4,3,4,58,8,4,5,4,60,8,4,10,4,12,4,63,9,4,1,5,1,5,1,5,1,6,1,6,
+        1,7,1,7,1,7,0,0,8,0,2,4,6,8,10,12,14,0,3,1,0,6,7,1,0,11,14,1,0,15,
+        16,77,0,17,1,0,0,0,2,23,1,0,0,0,4,36,1,0,0,0,6,38,1,0,0,0,8,50,1,
+        0,0,0,10,64,1,0,0,0,12,67,1,0,0,0,14,69,1,0,0,0,16,18,3,2,1,0,17,
+        16,1,0,0,0,18,19,1,0,0,0,19,17,1,0,0,0,19,20,1,0,0,0,20,21,1,0,0,
+        0,21,22,5,0,0,1,22,1,1,0,0,0,23,24,3,4,2,0,24,27,5,1,0,0,25,28,3,
+        6,3,0,26,28,3,2,1,0,27,25,1,0,0,0,27,26,1,0,0,0,28,29,1,0,0,0,29,
+        27,1,0,0,0,29,30,1,0,0,0,30,3,1,0,0,0,31,37,5,2,0,0,32,37,5,3,0,
+        0,33,34,5,4,0,0,34,37,5,18,0,0,35,37,5,5,0,0,36,31,1,0,0,0,36,32,
+        1,0,0,0,36,33,1,0,0,0,36,35,1,0,0,0,37,5,1,0,0,0,38,39,7,0,0,0,39,
+        40,5,17,0,0,40,42,5,8,0,0,41,43,3,8,4,0,42,41,1,0,0,0,42,43,1,0,
+        0,0,43,44,1,0,0,0,44,45,5,9,0,0,45,7,1,0,0,0,46,51,3,10,5,0,47,51,
+        5,18,0,0,48,51,5,19,0,0,49,51,3,14,7,0,50,46,1,0,0,0,50,47,1,0,0,
+        0,50,48,1,0,0,0,50,49,1,0,0,0,51,61,1,0,0,0,52,57,5,10,0,0,53,58,
+        3,10,5,0,54,58,5,18,0,0,55,58,5,19,0,0,56,58,3,14,7,0,57,53,1,0,
+        0,0,57,54,1,0,0,0,57,55,1,0,0,0,57,56,1,0,0,0,58,60,1,0,0,0,59,52,
+        1,0,0,0,60,63,1,0,0,0,61,59,1,0,0,0,61,62,1,0,0,0,62,9,1,0,0,0,63,
+        61,1,0,0,0,64,65,3,12,6,0,65,66,5,17,0,0,66,11,1,0,0,0,67,68,7,1,
+        0,0,68,13,1,0,0,0,69,70,7,2,0,0,70,15,1,0,0,0,8,19,27,29,36,42,50,
+        57,61
     ]
 
 class ptmlParser ( Parser ):
@@ -44,7 +47,7 @@ class ptmlParser ( Parser ):
     sharedContextCache = PredictionContextCache()
 
     literalNames = [ "<INVALID>", "':'", "'sequence'", "'selector'", "'parallel'", 
-                     "'decorator'", "'act'", "'cond'", "'('", "')'", "','", 
+                     "'decorator'", "'task'", "'cond'", "'('", "')'", "','", 
                      "'int'", "'float'", "'bool'", "'string'", "'True'", 
                      "'False'" ]
 
@@ -55,15 +58,16 @@ class ptmlParser ( Parser ):
                       "<INVALID>", "Names", "Integer", "Float", "LINE_COMMENT", 
                       "WS" ]
 
-    RULE_tree = 0
-    RULE_internal_node = 1
-    RULE_action_sign = 2
-    RULE_action_parm = 3
-    RULE_var_decls = 4
-    RULE_var_type = 5
-    RULE_boolean = 6
+    RULE_root = 0
+    RULE_tree = 1
+    RULE_internal_node = 2
+    RULE_action_sign = 3
+    RULE_action_parm = 4
+    RULE_var_decls = 5
+    RULE_var_type = 6
+    RULE_boolean = 7
 
-    ruleNames =  [ "tree", "internal_node", "action_sign", "action_parm", 
+    ruleNames =  [ "root", "tree", "internal_node", "action_sign", "action_parm", 
                    "var_decls", "var_type", "boolean" ]
 
     EOF = Token.EOF
@@ -98,6 +102,67 @@ class ptmlParser ( Parser ):
 
 
 
+    class RootContext(ParserRuleContext):
+        __slots__ = 'parser'
+
+        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+            super().__init__(parent, invokingState)
+            self.parser = parser
+
+        def EOF(self):
+            return self.getToken(ptmlParser.EOF, 0)
+
+        def tree(self, i:int=None):
+            if i is None:
+                return self.getTypedRuleContexts(ptmlParser.TreeContext)
+            else:
+                return self.getTypedRuleContext(ptmlParser.TreeContext,i)
+
+
+        def getRuleIndex(self):
+            return ptmlParser.RULE_root
+
+        def enterRule(self, listener:ParseTreeListener):
+            if hasattr( listener, "enterRoot" ):
+                listener.enterRoot(self)
+
+        def exitRule(self, listener:ParseTreeListener):
+            if hasattr( listener, "exitRoot" ):
+                listener.exitRoot(self)
+
+
+
+
+    def root(self):
+
+        localctx = ptmlParser.RootContext(self, self._ctx, self.state)
+        self.enterRule(localctx, 0, self.RULE_root)
+        self._la = 0 # Token type
+        try:
+            self.enterOuterAlt(localctx, 1)
+            self.state = 17 
+            self._errHandler.sync(self)
+            _la = self._input.LA(1)
+            while True:
+                self.state = 16
+                self.tree()
+                self.state = 19 
+                self._errHandler.sync(self)
+                _la = self._input.LA(1)
+                if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 60) != 0)):
+                    break
+
+            self.state = 21
+            self.match(ptmlParser.EOF)
+        except RecognitionException as re:
+            localctx.exception = re
+            self._errHandler.reportError(self, re)
+            self._errHandler.recover(self, re)
+        finally:
+            self.exitRule()
+        return localctx
+
+
     class TreeContext(ParserRuleContext):
         __slots__ = 'parser'
 
@@ -109,9 +174,6 @@ class ptmlParser ( Parser ):
             return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,0)
 
 
-        def EOF(self):
-            return self.getToken(ptmlParser.EOF, 0)
-
         def action_sign(self, i:int=None):
             if i is None:
                 return self.getTypedRuleContexts(ptmlParser.Action_signContext)
@@ -143,40 +205,39 @@ class ptmlParser ( Parser ):
     def tree(self):
 
         localctx = ptmlParser.TreeContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 0, self.RULE_tree)
-        self._la = 0 # Token type
+        self.enterRule(localctx, 2, self.RULE_tree)
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 14
+            self.state = 23
             self.internal_node()
-            self.state = 15
+            self.state = 24
             self.match(ptmlParser.T__0)
-            self.state = 18 
+            self.state = 27 
             self._errHandler.sync(self)
-            _la = self._input.LA(1)
-            while True:
-                self.state = 18
-                self._errHandler.sync(self)
-                token = self._input.LA(1)
-                if token in [6, 7]:
-                    self.state = 16
-                    self.action_sign()
-                    pass
-                elif token in [2, 3, 4, 5]:
-                    self.state = 17
-                    self.tree()
-                    pass
+            _alt = 1
+            while _alt!=2 and _alt!=ATN.INVALID_ALT_NUMBER:
+                if _alt == 1:
+                    self.state = 27
+                    self._errHandler.sync(self)
+                    token = self._input.LA(1)
+                    if token in [6, 7]:
+                        self.state = 25
+                        self.action_sign()
+                        pass
+                    elif token in [2, 3, 4, 5]:
+                        self.state = 26
+                        self.tree()
+                        pass
+                    else:
+                        raise NoViableAltException(self)
+
+
                 else:
                     raise NoViableAltException(self)
-
-                self.state = 20 
+                self.state = 29 
                 self._errHandler.sync(self)
-                _la = self._input.LA(1)
-                if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 252) != 0)):
-                    break
+                _alt = self._interp.adaptivePredict(self._input,2,self._ctx)
 
-            self.state = 22
-            self.match(ptmlParser.EOF)
         except RecognitionException as re:
             localctx.exception = re
             self._errHandler.reportError(self, re)
@@ -213,31 +274,31 @@ class ptmlParser ( Parser ):
     def internal_node(self):
 
         localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 2, self.RULE_internal_node)
+        self.enterRule(localctx, 4, self.RULE_internal_node)
         try:
-            self.state = 29
+            self.state = 36
             self._errHandler.sync(self)
             token = self._input.LA(1)
             if token in [2]:
                 self.enterOuterAlt(localctx, 1)
-                self.state = 24
+                self.state = 31
                 self.match(ptmlParser.T__1)
                 pass
             elif token in [3]:
                 self.enterOuterAlt(localctx, 2)
-                self.state = 25
+                self.state = 32
                 self.match(ptmlParser.T__2)
                 pass
             elif token in [4]:
                 self.enterOuterAlt(localctx, 3)
-                self.state = 26
+                self.state = 33
                 self.match(ptmlParser.T__3)
-                self.state = 27
+                self.state = 34
                 self.match(ptmlParser.Integer)
                 pass
             elif token in [5]:
                 self.enterOuterAlt(localctx, 4)
-                self.state = 28
+                self.state = 35
                 self.match(ptmlParser.T__4)
                 pass
             else:
@@ -283,30 +344,30 @@ class ptmlParser ( Parser ):
     def action_sign(self):
 
         localctx = ptmlParser.Action_signContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 4, self.RULE_action_sign)
+        self.enterRule(localctx, 6, self.RULE_action_sign)
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 31
+            self.state = 38
             _la = self._input.LA(1)
             if not(_la==6 or _la==7):
                 self._errHandler.recoverInline(self)
             else:
                 self._errHandler.reportMatch(self)
                 self.consume()
-            self.state = 32
+            self.state = 39
             self.match(ptmlParser.Names)
-            self.state = 33
+            self.state = 40
             self.match(ptmlParser.T__7)
-            self.state = 35
+            self.state = 42
             self._errHandler.sync(self)
             _la = self._input.LA(1)
             if (((_la) & ~0x3f) == 0 and ((1 << _la) & 915456) != 0):
-                self.state = 34
+                self.state = 41
                 self.action_parm()
 
 
-            self.state = 37
+            self.state = 44
             self.match(ptmlParser.T__8)
         except RecognitionException as re:
             localctx.exception = re
@@ -367,61 +428,61 @@ class ptmlParser ( Parser ):
     def action_parm(self):
 
         localctx = ptmlParser.Action_parmContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 6, self.RULE_action_parm)
+        self.enterRule(localctx, 8, self.RULE_action_parm)
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 43
+            self.state = 50
             self._errHandler.sync(self)
             token = self._input.LA(1)
             if token in [11, 12, 13, 14]:
-                self.state = 39
+                self.state = 46
                 self.var_decls()
                 pass
             elif token in [18]:
-                self.state = 40
+                self.state = 47
                 self.match(ptmlParser.Integer)
                 pass
             elif token in [19]:
-                self.state = 41
+                self.state = 48
                 self.match(ptmlParser.Float)
                 pass
             elif token in [15, 16]:
-                self.state = 42
+                self.state = 49
                 self.boolean()
                 pass
             else:
                 raise NoViableAltException(self)
 
-            self.state = 54
+            self.state = 61
             self._errHandler.sync(self)
             _la = self._input.LA(1)
             while _la==10:
-                self.state = 45
+                self.state = 52
                 self.match(ptmlParser.T__9)
-                self.state = 50
+                self.state = 57
                 self._errHandler.sync(self)
                 token = self._input.LA(1)
                 if token in [11, 12, 13, 14]:
-                    self.state = 46
+                    self.state = 53
                     self.var_decls()
                     pass
                 elif token in [18]:
-                    self.state = 47
+                    self.state = 54
                     self.match(ptmlParser.Integer)
                     pass
                 elif token in [19]:
-                    self.state = 48
+                    self.state = 55
                     self.match(ptmlParser.Float)
                     pass
                 elif token in [15, 16]:
-                    self.state = 49
+                    self.state = 56
                     self.boolean()
                     pass
                 else:
                     raise NoViableAltException(self)
 
-                self.state = 56
+                self.state = 63
                 self._errHandler.sync(self)
                 _la = self._input.LA(1)
 
@@ -465,12 +526,12 @@ class ptmlParser ( Parser ):
     def var_decls(self):
 
         localctx = ptmlParser.Var_declsContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 8, self.RULE_var_decls)
+        self.enterRule(localctx, 10, self.RULE_var_decls)
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 57
+            self.state = 64
             self.var_type()
-            self.state = 58
+            self.state = 65
             self.match(ptmlParser.Names)
         except RecognitionException as re:
             localctx.exception = re
@@ -506,11 +567,11 @@ class ptmlParser ( Parser ):
     def var_type(self):
 
         localctx = ptmlParser.Var_typeContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 10, self.RULE_var_type)
+        self.enterRule(localctx, 12, self.RULE_var_type)
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 60
+            self.state = 67
             _la = self._input.LA(1)
             if not((((_la) & ~0x3f) == 0 and ((1 << _la) & 30720) != 0)):
                 self._errHandler.recoverInline(self)
@@ -551,11 +612,11 @@ class ptmlParser ( Parser ):
     def boolean(self):
 
         localctx = ptmlParser.BooleanContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 12, self.RULE_boolean)
+        self.enterRule(localctx, 14, self.RULE_boolean)
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 62
+            self.state = 69
             _la = self._input.LA(1)
             if not(_la==15 or _la==16):
                 self._errHandler.recoverInline(self)
diff --git a/ptml/ptmlTranslator.py b/ptml/ptmlTranslator.py
index b9c9997..6d09862 100644
--- a/ptml/ptmlTranslator.py
+++ b/ptml/ptmlTranslator.py
@@ -1,6 +1,12 @@
+import os
+import sys
+project_path = "/home/wu/RoboWaiter/ptml"
+sys.path.append(project_path)
+
 from antlr4 import *
-from .ptmlListener import ptmlListener
-from .ptmlParser import ptmlParser
+from ptmlListener import ptmlListener
+from ptmlParser import ptmlParser
+from BT_api import BTAPI
 
 class ptmlTranslator(ptmlListener):
     """Translate the ptml language to BT.
@@ -11,6 +17,17 @@ class ptmlTranslator(ptmlListener):
     
     def __init__(self) -> None:
         super().__init__()
+        self.stack = []
+        self.api = BTAPI()
+        
+        
+    # Enter a parse tree produced by ptmlParser#root.
+    def enterRoot(self, ctx:ptmlParser.RootContext):
+        pass
+
+    # Exit a parse tree produced by ptmlParser#root.
+    def exitRoot(self, ctx:ptmlParser.RootContext):
+        pass
         
         
     # Enter a parse tree produced by ptmlParser#tree.
@@ -24,7 +41,8 @@ class ptmlTranslator(ptmlListener):
 
     # Enter a parse tree produced by ptmlParser#internal_node.
     def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
-        pass
+        type = str(ctx.children[0])
+        print(type)
 
     # Exit a parse tree produced by ptmlParser#internal_node.
     def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
@@ -73,4 +91,13 @@ class ptmlTranslator(ptmlListener):
 
     # Exit a parse tree produced by ptmlParser#boolean.
     def exitBoolean(self, ctx:ptmlParser.BooleanContext):
-        pass
\ No newline at end of file
+        pass
+    
+    
+class BtNode():
+    """
+    
+    """
+    def __init__(self, type:str='BtNode') -> None:
+        self.type = type
+        self.name:str = ''
\ No newline at end of file
diff --git a/ptml/ptml_test.py b/ptml/ptml_test.py
new file mode 100644
index 0000000..a5c1ee3
--- /dev/null
+++ b/ptml/ptml_test.py
@@ -0,0 +1,25 @@
+import os
+import sys
+project_path = "/home/wu/RoboWaiter/ptml"
+sys.path.append(project_path)
+
+from antlr4 import *
+from ptmlTranslator import ptmlTranslator
+from ptmlParser import ptmlParser as Parser
+from ptmlLexer import ptmlLexer as Lexer
+
+
+if __name__ == '__main__':
+    
+    text_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
+    input_stream = FileStream(text_path, encoding='utf-8')
+    
+    # testing lexer & parser
+    lexer = Lexer(input_stream)
+    stream = CommonTokenStream(lexer)
+    parser = Parser(stream)
+    tree = parser.root()
+    
+    walker = ParseTreeWalker()
+    ptml = ptmlTranslator() # listener mode
+    walker.walk(ptml, tree)
\ No newline at end of file