diff --git a/dataset/input.txt b/dataset/input.txt
deleted file mode 100644
index 536fa42..0000000
--- a/dataset/input.txt
+++ /dev/null
@@ -1 +0,0 @@
-{pre: 1, 2, 3}{action: moveTo(s)}{add: 4}{del: 2, 3}
\ No newline at end of file
diff --git a/requirements.txt b/requirements.txt
index 7711d13..85bbf47 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -6,3 +6,4 @@ gym==0.21.0
 grpcio==1.53.0
 requests
 urllib3
+tabulate
\ No newline at end of file
diff --git a/robowaiter/behavior_lib/_base/Act.py b/robowaiter/behavior_lib/_base/Act.py
new file mode 100644
index 0000000..1c6433a
--- /dev/null
+++ b/robowaiter/behavior_lib/_base/Act.py
@@ -0,0 +1,11 @@
+from robowaiter.behavior_lib._base.Behavior import Bahavior
+
+class Act(Bahavior):
+    def __init__(self,*args):
+        super().__init__(*args)
+
+    def get_conds(self):
+        pre = set()
+        add = set()
+        de = set()
+        return pre, add, de
\ No newline at end of file
diff --git a/robowaiter/behavior_lib/_base/Behavior.py b/robowaiter/behavior_lib/_base/Behavior.py
new file mode 100644
index 0000000..b5ac2db
--- /dev/null
+++ b/robowaiter/behavior_lib/_base/Behavior.py
@@ -0,0 +1,54 @@
+import py_trees as ptree
+from typing import Any
+import enum
+
+class Status(enum.Enum):
+    """An enumerator representing the status of a behavior."""
+
+    SUCCESS = ptree.common.Status.SUCCESS
+    """Behaviour check has passed, or execution of its action has finished with a successful result."""
+    FAILURE = ptree.common.Status.FAILURE
+    """Behaviour check has failed, or execution of its action finished with a failed result."""
+    RUNNING = ptree.common.Status.RUNNING
+    """Behaviour is in the middle of executing some action, result still pending."""
+    INVALID = ptree.common.Status.INVALID
+    """Behaviour is uninitialised and/or in an inactive state, i.e. not currently being ticked."""
+
+
+# _base Behavior
+class Bahavior(ptree.behaviour.Behaviour):
+    num_params = 0
+    valid_params='''
+        None
+        '''
+    scene = None
+
+    def __init__(self,*args):
+        name = self.__class__.__name__
+        if len(args)>0:
+            name = f'{name}({",".join(list(args))})'
+        self.name = name
+        self.args = args
+        super().__init__(self.name)
+
+    def _update(self) -> ptree.common.Status:
+        print("this is just a _base behavior node.")
+        return Status.INVALID
+
+    # let behavior node interact with the scene
+    def set_scene(self, scene):
+        self.scene = scene
+
+    def setup(self, **kwargs: Any) -> None:
+        return super().setup(**kwargs)
+
+    def initialise(self) -> None:
+        return super().initialise()
+
+    def update(self) -> Status:
+        re = self._update()
+        print(f"{self.__class__.__name__}: {re.value}")
+        return re
+
+    def terminate(self, new_status: Status) -> None:
+        return super().terminate(new_status)
diff --git a/robowaiter/behavior_lib/_base/Cond.py b/robowaiter/behavior_lib/_base/Cond.py
new file mode 100644
index 0000000..15147f6
--- /dev/null
+++ b/robowaiter/behavior_lib/_base/Cond.py
@@ -0,0 +1,15 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Behavior import Bahavior, Status
+
+class Cond(Bahavior):
+    def __init__(self):
+        super().__init__()
+
+
+    def _update(self) -> ptree.common.Status:
+        # if self.scene.status?
+        if self.scene.state['chat_list'] == []:
+            return Status.FAILURE
+        else:
+            return Status.SUCCESS
diff --git a/robowaiter/behavior_lib/_base/__init__.py b/robowaiter/behavior_lib/_base/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py
new file mode 100644
index 0000000..ba6ed8b
--- /dev/null
+++ b/robowaiter/behavior_lib/act/DealChat.py
@@ -0,0 +1,17 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Behavior import Bahavior
+from robowaiter.llm_client.ask_llm import ask_llm
+
+class DealChat(Bahavior):
+    def __init__(self):
+        super().__init__()
+
+    def _update(self) -> ptree.common.Status:
+        # if self.scene.status?
+        chat = self.scene.state['chat_list'].pop()
+        answer = ask_llm(chat)
+        print(f"机器人回答：{answer}")
+        self.scene.chat_bubble(f"机器人回答：{answer}")
+
+        return ptree.common.Status.RUNNING
diff --git a/robowaiter/behavior_lib/MoveTo.py b/robowaiter/behavior_lib/act/MoveTo.py
similarity index 100%
rename from robowaiter/behavior_lib/MoveTo.py
rename to robowaiter/behavior_lib/act/MoveTo.py
diff --git a/robowaiter/behavior_lib/act/__init__.py b/robowaiter/behavior_lib/act/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/robowaiter/behavior_lib/cond/At.py b/robowaiter/behavior_lib/cond/At.py
new file mode 100644
index 0000000..ec97bb2
--- /dev/null
+++ b/robowaiter/behavior_lib/cond/At.py
@@ -0,0 +1,21 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Act import Act
+
+class At(Act):
+    num_params = 2
+    valid_params = '''
+        Coffee, Table
+    '''
+
+    def __init__(self,*args):
+        super().__init__(*args)
+
+
+
+    def _update(self) -> ptree.common.Status:
+        # if self.scene.status?
+        if self.scene.state['chat_list'] == []:
+            return ptree.common.Status.FAILURE
+        else:
+            return ptree.common.Status.SUCCESS
diff --git a/robowaiter/behavior_lib/cond/Chatting.py b/robowaiter/behavior_lib/cond/Chatting.py
new file mode 100644
index 0000000..63bab10
--- /dev/null
+++ b/robowaiter/behavior_lib/cond/Chatting.py
@@ -0,0 +1,15 @@
+import py_trees as ptree
+from typing import Any
+from robowaiter.behavior_lib._base.Behavior import Bahavior
+
+class Chatting(Bahavior):
+    def __init__(self):
+        super().__init__()
+
+
+    def _update(self) -> ptree.common.Status:
+        # if self.scene.status?
+        if self.scene.state['chat_list'] == []:
+            return ptree.common.Status.FAILURE
+        else:
+            return ptree.common.Status.SUCCESS
diff --git a/robowaiter/behavior_lib/cond/__init__.py b/robowaiter/behavior_lib/cond/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/opt_bt_expansion/BehaviorTree.py b/robowaiter/behavior_tree/obtea/BehaviorTree.py
similarity index 100%
rename from opt_bt_expansion/BehaviorTree.py
rename to robowaiter/behavior_tree/obtea/BehaviorTree.py
diff --git a/robowaiter/behavior_tree/obtea/MakeCoffee.ptml b/robowaiter/behavior_tree/obtea/MakeCoffee.ptml
new file mode 100644
index 0000000..d2f0b28
--- /dev/null
+++ b/robowaiter/behavior_tree/obtea/MakeCoffee.ptml
@@ -0,0 +1,59 @@
+selector{
+cond At(Table,Coffee)
+selector{
+cond Holding(Coffee), At(Robot,Table)
+act PutDown(Table,Coffee)
+}
+selector{
+cond NotHolding, At(Robot,Coffee), At(Robot,Table)
+act PickUp(Coffee)
+}
+selector{
+cond Holding(Coffee), Available(Table)
+act MoveTo(Table)
+}
+selector{
+cond Holding(VacuumCup), At(Robot,Coffee), At(Robot,Table)
+act PutDown(Table,VacuumCup)
+}
+selector{
+cond NotHolding, At(Robot,CoffeeMachine), At(Robot,Table)
+act OpCoffeeMachine
+}
+selector{
+cond NotHolding, Available(Table), At(Robot,Coffee)
+act PickUp(Coffee)
+}
+selector{
+cond Holding(VacuumCup), At(Robot,Table), At(Robot,CoffeeMachine)
+act PutDown(Table,VacuumCup)
+}
+selector{
+cond NotHolding, Available(Coffee), Available(Table)
+act MoveTo(Coffee)
+}
+selector{
+cond NotHolding, Available(Table), At(Robot,CoffeeMachine)
+act OpCoffeeMachine
+}
+selector{
+cond Holding(VacuumCup), Available(Coffee), Available(Table), At(Robot,Table)
+act PutDown(Table,VacuumCup)
+}
+selector{
+cond Available(CoffeeMachine), NotHolding, Available(Table)
+act MoveTo(CoffeeMachine)
+}
+selector{
+cond Holding(VacuumCup), Available(Coffee), Available(Table)
+act MoveTo(Table)
+}
+selector{
+cond Available(CoffeeMachine), Holding(VacuumCup), Available(Table), At(Robot,Table)
+act PutDown(Table,VacuumCup)
+}
+selector{
+cond Available(CoffeeMachine), Holding(VacuumCup), Available(Table)
+act MoveTo(Table)
+}
+}
diff --git a/opt_bt_expansion/OptimalBTExpansionAlgorithm.py b/robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py
similarity index 100%
rename from opt_bt_expansion/OptimalBTExpansionAlgorithm.py
rename to robowaiter/behavior_tree/obtea/OptimalBTExpansionAlgorithm.py
diff --git a/opt_bt_expansion/README.assets/image-20231103191141047.png b/robowaiter/behavior_tree/obtea/README.assets/image-20231103191141047.png
similarity index 100%
rename from opt_bt_expansion/README.assets/image-20231103191141047.png
rename to robowaiter/behavior_tree/obtea/README.assets/image-20231103191141047.png
diff --git a/opt_bt_expansion/README.md b/robowaiter/behavior_tree/obtea/README.md
similarity index 100%
rename from opt_bt_expansion/README.md
rename to robowaiter/behavior_tree/obtea/README.md
diff --git a/robowaiter/behavior_tree/obtea/__init__.py b/robowaiter/behavior_tree/obtea/__init__.py
new file mode 100644
index 0000000..fe4de55
--- /dev/null
+++ b/robowaiter/behavior_tree/obtea/__init__.py
@@ -0,0 +1,3 @@
+
+from robowaiter.robot.robot import Robot
+from robowaiter.scene import task_map
\ No newline at end of file
diff --git a/opt_bt_expansion/examples.py b/robowaiter/behavior_tree/obtea/examples.py
similarity index 98%
rename from opt_bt_expansion/examples.py
rename to robowaiter/behavior_tree/obtea/examples.py
index 743f554..019af9b 100644
--- a/opt_bt_expansion/examples.py
+++ b/robowaiter/behavior_tree/obtea/examples.py
@@ -1,5 +1,5 @@
 
-from opt_bt_expansion.OptimalBTExpansionAlgorithm import Action
+from zoo.opt_bt_expansion.OptimalBTExpansionAlgorithm import Action
 
 
 
diff --git a/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py b/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py
new file mode 100644
index 0000000..b8ef90a
--- /dev/null
+++ b/robowaiter/behavior_tree/obtea/opt_bt_exp_main.py
@@ -0,0 +1,121 @@
+from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT # 行为结点类：叶子结点和非叶子节点
+from zoo.opt_bt_expansion.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm,state_transition # 调用最优行为树扩展算法
+from robowaiter.behavior_tree.obtea.tools import print_action_data_table,BTTest
+from robowaiter.behavior_tree.obtea.examples import MoveBtoB_num,MoveBtoB,Cond2BelongsToCond3 # 导入三个例子
+from robowaiter.behavior_tree.obtea.examples import *
+
+
+# 封装好的主接口
+class BTOptExpInterface:
+    def __init__(self, action_list):
+        """
+        Initialize the BTOptExpansion with a list of actions.
+        :param action_list: A list of actions to be used in the behavior tree.
+        """
+        # self.actions = []
+        # for act in action_list:
+        #     a = Action(name=act.name)
+        #     a.pre=act['pre']
+        #     a.add=act['add']
+        #     a.del_set= act['del_set']
+        #     a.cost = 1
+        #     self.actions.append(a)
+        self.actions = action_list
+        self.has_processed = False
+
+    def process(self, goal):
+        """
+        Process the input sets and return a string result.
+        :param input_set: The set of goal states and the set of initial states.
+        :return: A PTML string representing the outcome of the behavior tree.
+        """
+        self.goal = goal
+        self.algo = OptBTExpAlgorithm(verbose=False)
+        self.algo.clear()
+        self.algo.run_algorithm(self.goal, self.actions) # 调用算法得到行为树保存至 algo.bt
+        self.ptml_string = self.algo.get_ptml()
+        self.has_processed = True
+        # algo.print_solution() # print behavior tree
+
+        return self.ptml_string
+
+    # 方法一：查找所有初始状态是否包含当前状态
+    def find_all_leaf_states_contain_start(self,start):
+        if not self.has_processed:
+            raise RuntimeError("The process method must be called before find_all_leaf_states_contain_start!")
+        # 返回所有能到达目标状态的初始状态
+        state_leafs = self.algo.get_all_state_leafs()
+        for state in state_leafs:
+            if start >= state:
+                return True
+        return False
+
+    # 方法二：模拟跑一遍行为树，看 start 能够通过执行一系列动作到达 goal
+    def run_bt_from_start(self,goal,start):
+        if not self.has_processed:
+            raise RuntimeError("The process method must be called before run_bt_from_start!")
+        # 检查是否能到达目标
+        right_bt = True
+        state = start
+        steps = 0
+        val, obj = self.algo.bt.tick(state)
+        while val != 'success' and val != 'failure':
+            state = state_transition(state, obj)
+            val, obj = self.algo.bt.tick(state)
+            if (val == 'failure'):
+                # print("bt fails at step", steps)
+                right_bt = False
+            steps += 1
+        if not goal <= state:
+            # print("wrong solution", steps)
+            right_bt = False
+        else:
+            pass
+            # print("right solution", steps)
+        return right_bt
+
+
+
+
+if __name__ == '__main__' :
+
+    # todo: Example Cafe
+    # todo: Define goal, start, actions
+    actions=[
+        Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1),
+        Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1),
+
+        Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1),
+
+        Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=1),
+        Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=1),
+        Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=1),
+
+        Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=1),
+    ]
+    algo = BTOptExpInterface(actions)
+
+
+    goal = {'At(Table,Coffee)'}
+    ptml_string = algo.process(goal)
+    print(ptml_string)
+
+    file_name = "MakeCoffee"
+    with open(f'./{file_name}.ptml', 'w') as file:
+        file.write(ptml_string)
+
+
+    # 判断初始状态能否到达目标状态
+    start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'}
+    # 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态
+    right_bt = algo.find_all_leaf_states_contain_start(start)
+    if not right_bt:
+        print("ERROR1: The current state cannot reach the goal state!")
+    else:
+        print("Right1: The current state can reach the goal state!")
+    # 方法二：预先跑一边行为树，看能否到达目标状态
+    right_bt2 = algo.run_bt_from_start(goal,start)
+    if not right_bt2:
+        print("ERROR2: The current state cannot reach the goal state!")
+    else:
+        print("Right2: The current state can reach the goal state!")
diff --git a/opt_bt_expansion/tools.py b/robowaiter/behavior_tree/obtea/tools.py
similarity index 98%
rename from opt_bt_expansion/tools.py
rename to robowaiter/behavior_tree/obtea/tools.py
index cf84229..1af057d 100644
--- a/opt_bt_expansion/tools.py
+++ b/robowaiter/behavior_tree/obtea/tools.py
@@ -3,7 +3,7 @@
 from tabulate import tabulate
 import numpy as np
 import random
-from opt_bt_expansion.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm
+from zoo.opt_bt_expansion.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm
 import time
 
 
diff --git a/robowaiter/behavior_tree/ptml/compile.sh b/robowaiter/behavior_tree/ptml/compile.sh
new file mode 100644
index 0000000..9b84246
--- /dev/null
+++ b/robowaiter/behavior_tree/ptml/compile.sh
@@ -0,0 +1,2 @@
+cd ./robowaiter/behavior_tree/ptml
+antlr4 -Dlanguage=Python3 ptml.g4
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/ptml/ptml.g4 b/robowaiter/behavior_tree/ptml/ptml.g4
index 0a545a9..14a2857 100644
--- a/robowaiter/behavior_tree/ptml/ptml.g4
+++ b/robowaiter/behavior_tree/ptml/ptml.g4
@@ -4,13 +4,13 @@ root            : tree+ EOF;
 
 tree    		: internal_node '{' (action_sign|tree)+ '}' ;
 internal_node   : 'sequence' | 'selector' | 'parallel' Integer ;
-action_sign     : ('task'|'cond') Names '(' action_parm? ')';
-action_parm     : (Integer|Float|boolean) (',' (Integer|Float|boolean))* ;
+action_sign     : ('act'|'cond') String '(' action_parm? ')';
+action_parm     : (Integer|Float|boolean|String) (',' (Integer|Float|boolean|String))* ;
 // var_decls		: var_type Names ;
 // var_type		: 'int' | 'float' | 'bool' | 'string' ;
 boolean         : 'True' | 'False' ;
 
-Names 			: [a-zA-Z_][a-zA-Z_0-9]* ;
+String          : [a-zA-Z_][a-zA-Z_0-9]* ;
 Integer         : '-'?[1-9][0-9]* | '0' ;
 Float           : [0-9]+'.'[0-9]* | '.'[0-9]+ ;
 
diff --git a/robowaiter/behavior_tree/ptml/ptml.interp b/robowaiter/behavior_tree/ptml/ptml.interp
index a96ef7d..b0e3b01 100644
--- a/robowaiter/behavior_tree/ptml/ptml.interp
+++ b/robowaiter/behavior_tree/ptml/ptml.interp
@@ -5,7 +5,7 @@ null
 'sequence'
 'selector'
 'parallel'
-'task'
+'act'
 'cond'
 '('
 ')'
@@ -32,7 +32,7 @@ null
 null
 null
 null
-Names
+String
 Integer
 Float
 LINE_COMMENT
@@ -48,4 +48,4 @@ boolean
 
 
 atn:
-[4, 1, 17, 62, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 24, 8, 1, 11, 1, 12, 1, 25, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 34, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 40, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 3, 4, 47, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 53, 8, 4, 5, 4, 55, 8, 4, 10, 4, 12, 4, 58, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 66, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 33, 1, 0, 0, 0, 6, 35, 1, 0, 0, 0, 8, 46, 1, 0, 0, 0, 10, 59, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 23, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 25, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 27, 1, 0, 0, 0, 27, 28, 5, 2, 0, 0, 28, 3, 1, 0, 0, 0, 29, 34, 5, 3, 0, 0, 30, 34, 5, 4, 0, 0, 31, 32, 5, 5, 0, 0, 32, 34, 5, 14, 0, 0, 33, 29, 1, 0, 0, 0, 33, 30, 1, 0, 0, 0, 33, 31, 1, 0, 0, 0, 34, 5, 1, 0, 0, 0, 35, 36, 7, 0, 0, 0, 36, 37, 5, 13, 0, 0, 37, 39, 5, 8, 0, 0, 38, 40, 3, 8, 4, 0, 39, 38, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 5, 9, 0, 0, 42, 7, 1, 0, 0, 0, 43, 47, 5, 14, 0, 0, 44, 47, 5, 15, 0, 0, 45, 47, 3, 10, 5, 0, 46, 43, 1, 0, 0, 0, 46, 44, 1, 0, 0, 0, 46, 45, 1, 0, 0, 0, 47, 56, 1, 0, 0, 0, 48, 52, 5, 10, 0, 0, 49, 53, 5, 14, 0, 0, 50, 53, 5, 15, 0, 0, 51, 53, 3, 10, 5, 0, 52, 49, 1, 0, 0, 0, 52, 50, 1, 0, 0, 0, 52, 51, 1, 0, 0, 0, 53, 55, 1, 0, 0, 0, 54, 48, 1, 0, 0, 0, 55, 58, 1, 0, 0, 0, 56, 54, 1, 0, 0, 0, 56, 57, 1, 0, 0, 0, 57, 9, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 59, 60, 7, 1, 0, 0, 60, 11, 1, 0, 0, 0, 8, 15, 23, 25, 33, 39, 46, 52, 56]
\ No newline at end of file
+[4, 1, 17, 64, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 1, 0, 4, 0, 14, 8, 0, 11, 0, 12, 0, 15, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 24, 8, 1, 11, 1, 12, 1, 25, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 34, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 40, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 48, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 55, 8, 4, 5, 4, 57, 8, 4, 10, 4, 12, 4, 60, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 6, 7, 1, 0, 11, 12, 70, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 33, 1, 0, 0, 0, 6, 35, 1, 0, 0, 0, 8, 47, 1, 0, 0, 0, 10, 61, 1, 0, 0, 0, 12, 14, 3, 2, 1, 0, 13, 12, 1, 0, 0, 0, 14, 15, 1, 0, 0, 0, 15, 13, 1, 0, 0, 0, 15, 16, 1, 0, 0, 0, 16, 17, 1, 0, 0, 0, 17, 18, 5, 0, 0, 1, 18, 1, 1, 0, 0, 0, 19, 20, 3, 4, 2, 0, 20, 23, 5, 1, 0, 0, 21, 24, 3, 6, 3, 0, 22, 24, 3, 2, 1, 0, 23, 21, 1, 0, 0, 0, 23, 22, 1, 0, 0, 0, 24, 25, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 27, 1, 0, 0, 0, 27, 28, 5, 2, 0, 0, 28, 3, 1, 0, 0, 0, 29, 34, 5, 3, 0, 0, 30, 34, 5, 4, 0, 0, 31, 32, 5, 5, 0, 0, 32, 34, 5, 14, 0, 0, 33, 29, 1, 0, 0, 0, 33, 30, 1, 0, 0, 0, 33, 31, 1, 0, 0, 0, 34, 5, 1, 0, 0, 0, 35, 36, 7, 0, 0, 0, 36, 37, 5, 13, 0, 0, 37, 39, 5, 8, 0, 0, 38, 40, 3, 8, 4, 0, 39, 38, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 5, 9, 0, 0, 42, 7, 1, 0, 0, 0, 43, 48, 5, 14, 0, 0, 44, 48, 5, 15, 0, 0, 45, 48, 3, 10, 5, 0, 46, 48, 5, 13, 0, 0, 47, 43, 1, 0, 0, 0, 47, 44, 1, 0, 0, 0, 47, 45, 1, 0, 0, 0, 47, 46, 1, 0, 0, 0, 48, 58, 1, 0, 0, 0, 49, 54, 5, 10, 0, 0, 50, 55, 5, 14, 0, 0, 51, 55, 5, 15, 0, 0, 52, 55, 3, 10, 5, 0, 53, 55, 5, 13, 0, 0, 54, 50, 1, 0, 0, 0, 54, 51, 1, 0, 0, 0, 54, 52, 1, 0, 0, 0, 54, 53, 1, 0, 0, 0, 55, 57, 1, 0, 0, 0, 56, 49, 1, 0, 0, 0, 57, 60, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 58, 59, 1, 0, 0, 0, 59, 9, 1, 0, 0, 0, 60, 58, 1, 0, 0, 0, 61, 62, 7, 1, 0, 0, 62, 11, 1, 0, 0, 0, 8, 15, 23, 25, 33, 39, 47, 54, 58]
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/ptml/ptml.tokens b/robowaiter/behavior_tree/ptml/ptml.tokens
index 1f7a813..6f604be 100644
--- a/robowaiter/behavior_tree/ptml/ptml.tokens
+++ b/robowaiter/behavior_tree/ptml/ptml.tokens
@@ -10,7 +10,7 @@ T__8=9
 T__9=10
 T__10=11
 T__11=12
-Names=13
+String=13
 Integer=14
 Float=15
 LINE_COMMENT=16
@@ -20,7 +20,7 @@ WS=17
 'sequence'=3
 'selector'=4
 'parallel'=5
-'task'=6
+'act'=6
 'cond'=7
 '('=8
 ')'=9
diff --git a/robowaiter/behavior_tree/ptml/ptmlCompiler.py b/robowaiter/behavior_tree/ptml/ptmlCompiler.py
index 548369d..47a68f7 100644
--- a/robowaiter/behavior_tree/ptml/ptmlCompiler.py
+++ b/robowaiter/behavior_tree/ptml/ptmlCompiler.py
@@ -1,4 +1,5 @@
 import os
+import sys
 from antlr4 import *
 
 if "." in __name__:
@@ -40,6 +41,11 @@ def load(scene, ptml_path: str, behaviour_lib_path: str):
     tree = parser.root()
 
     walker = ParseTreeWalker()
+
+
+    sys.path.append(os.path.join(behaviour_lib_path,"cond"))
+    sys.path.append(os.path.join(behaviour_lib_path,"act"))
+
     ptml = ptmlTranslator(scene, behaviour_lib_path)  # listener mode
     walker.walk(ptml, tree)
 
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.interp b/robowaiter/behavior_tree/ptml/ptmlLexer.interp
index 823b753..a624c96 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.interp
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.interp
@@ -5,7 +5,7 @@ null
 'sequence'
 'selector'
 'parallel'
-'task'
+'act'
 'cond'
 '('
 ')'
@@ -32,7 +32,7 @@ null
 null
 null
 null
-Names
+String
 Integer
 Float
 LINE_COMMENT
@@ -51,7 +51,7 @@ T__8
 T__9
 T__10
 T__11
-Names
+String
 Integer
 Float
 LINE_COMMENT
@@ -65,4 +65,4 @@ mode names:
 DEFAULT_MODE
 
 atn:
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10, 15, 12, 15, 141, 9, 15, 1, 15, 3, 15, 144, 8, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 4, 16, 151, 8, 16, 11, 16, 12, 16, 152, 1, 16, 1, 16, 1, 139, 0, 17, 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, 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, 166, 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, 1, 35, 1, 0, 0, 0, 3, 37, 1, 0, 0, 0, 5, 39, 1, 0, 0, 0, 7, 48, 1, 0, 0, 0, 9, 57, 1, 0, 0, 0, 11, 66, 1, 0, 0, 0, 13, 71, 1, 0, 0, 0, 15, 76, 1, 0, 0, 0, 17, 78, 1, 0, 0, 0, 19, 80, 1, 0, 0, 0, 21, 82, 1, 0, 0, 0, 23, 87, 1, 0, 0, 0, 25, 93, 1, 0, 0, 0, 27, 111, 1, 0, 0, 0, 29, 131, 1, 0, 0, 0, 31, 133, 1, 0, 0, 0, 33, 150, 1, 0, 0, 0, 35, 36, 5, 123, 0, 0, 36, 2, 1, 0, 0, 0, 37, 38, 5, 125, 0, 0, 38, 4, 1, 0, 0, 0, 39, 40, 5, 115, 0, 0, 40, 41, 5, 101, 0, 0, 41, 42, 5, 113, 0, 0, 42, 43, 5, 117, 0, 0, 43, 44, 5, 101, 0, 0, 44, 45, 5, 110, 0, 0, 45, 46, 5, 99, 0, 0, 46, 47, 5, 101, 0, 0, 47, 6, 1, 0, 0, 0, 48, 49, 5, 115, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 108, 0, 0, 51, 52, 5, 101, 0, 0, 52, 53, 5, 99, 0, 0, 53, 54, 5, 116, 0, 0, 54, 55, 5, 111, 0, 0, 55, 56, 5, 114, 0, 0, 56, 8, 1, 0, 0, 0, 57, 58, 5, 112, 0, 0, 58, 59, 5, 97, 0, 0, 59, 60, 5, 114, 0, 0, 60, 61, 5, 97, 0, 0, 61, 62, 5, 108, 0, 0, 62, 63, 5, 108, 0, 0, 63, 64, 5, 101, 0, 0, 64, 65, 5, 108, 0, 0, 65, 10, 1, 0, 0, 0, 66, 67, 5, 116, 0, 0, 67, 68, 5, 97, 0, 0, 68, 69, 5, 115, 0, 0, 69, 70, 5, 107, 0, 0, 70, 12, 1, 0, 0, 0, 71, 72, 5, 99, 0, 0, 72, 73, 5, 111, 0, 0, 73, 74, 5, 110, 0, 0, 74, 75, 5, 100, 0, 0, 75, 14, 1, 0, 0, 0, 76, 77, 5, 40, 0, 0, 77, 16, 1, 0, 0, 0, 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0, 0]
\ No newline at end of file
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\ No newline at end of file
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.py b/robowaiter/behavior_tree/ptml/ptmlLexer.py
index 5fe957a..0cee05f 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.py
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.py
@@ -1,4 +1,4 @@
-# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
+# Generated from ptml.g4 by ANTLR 4.13.1
 from antlr4 import *
 from io import StringIO
 import sys
@@ -10,62 +10,61 @@ else:
 
 def serializedATN():
     return [
-        4,0,17,156,6,-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,
+        4,0,17,155,6,-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,
         13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,1,0,1,0,1,1,1,1,1,2,1,2,1,
         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,
-        4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,5,1,6,1,6,1,
-        6,1,6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,
-        1,11,1,11,1,11,1,11,1,11,1,12,1,12,5,12,96,8,12,10,12,12,12,99,9,
-        12,1,13,3,13,102,8,13,1,13,1,13,5,13,106,8,13,10,13,12,13,109,9,
-        13,1,13,3,13,112,8,13,1,14,4,14,115,8,14,11,14,12,14,116,1,14,1,
-        14,5,14,121,8,14,10,14,12,14,124,9,14,1,14,1,14,4,14,128,8,14,11,
-        14,12,14,129,3,14,132,8,14,1,15,1,15,1,15,1,15,5,15,138,8,15,10,
-        15,12,15,141,9,15,1,15,3,15,144,8,15,1,15,1,15,1,15,1,15,1,16,4,
-        16,151,8,16,11,16,12,16,152,1,16,1,16,1,139,0,17,1,1,3,2,5,3,7,4,
-        9,5,11,6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,
-        33,17,1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,
-        1,0,49,57,1,0,48,57,3,0,9,10,12,13,32,32,166,0,1,1,0,0,0,0,3,1,0,
-        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,
-        0,1,35,1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,
-        0,11,66,1,0,0,0,13,71,1,0,0,0,15,76,1,0,0,0,17,78,1,0,0,0,19,80,
-        1,0,0,0,21,82,1,0,0,0,23,87,1,0,0,0,25,93,1,0,0,0,27,111,1,0,0,0,
-        29,131,1,0,0,0,31,133,1,0,0,0,33,150,1,0,0,0,35,36,5,123,0,0,36,
-        2,1,0,0,0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,
-        0,0,41,42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,
-        0,0,45,46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,
-        49,50,5,101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,
-        54,5,116,0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,
-        5,112,0,0,58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,
-        108,0,0,62,63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,
-        0,0,0,66,67,5,116,0,0,67,68,5,97,0,0,68,69,5,115,0,0,69,70,5,107,
-        0,0,70,12,1,0,0,0,71,72,5,99,0,0,72,73,5,111,0,0,73,74,5,110,0,0,
-        74,75,5,100,0,0,75,14,1,0,0,0,76,77,5,40,0,0,77,16,1,0,0,0,78,79,
-        5,41,0,0,79,18,1,0,0,0,80,81,5,44,0,0,81,20,1,0,0,0,82,83,5,84,0,
-        0,83,84,5,114,0,0,84,85,5,117,0,0,85,86,5,101,0,0,86,22,1,0,0,0,
-        87,88,5,70,0,0,88,89,5,97,0,0,89,90,5,108,0,0,90,91,5,115,0,0,91,
-        92,5,101,0,0,92,24,1,0,0,0,93,97,7,0,0,0,94,96,7,1,0,0,95,94,1,0,
-        0,0,96,99,1,0,0,0,97,95,1,0,0,0,97,98,1,0,0,0,98,26,1,0,0,0,99,97,
-        1,0,0,0,100,102,5,45,0,0,101,100,1,0,0,0,101,102,1,0,0,0,102,103,
-        1,0,0,0,103,107,7,2,0,0,104,106,7,3,0,0,105,104,1,0,0,0,106,109,
-        1,0,0,0,107,105,1,0,0,0,107,108,1,0,0,0,108,112,1,0,0,0,109,107,
-        1,0,0,0,110,112,5,48,0,0,111,101,1,0,0,0,111,110,1,0,0,0,112,28,
-        1,0,0,0,113,115,7,3,0,0,114,113,1,0,0,0,115,116,1,0,0,0,116,114,
-        1,0,0,0,116,117,1,0,0,0,117,118,1,0,0,0,118,122,5,46,0,0,119,121,
-        7,3,0,0,120,119,1,0,0,0,121,124,1,0,0,0,122,120,1,0,0,0,122,123,
-        1,0,0,0,123,132,1,0,0,0,124,122,1,0,0,0,125,127,5,46,0,0,126,128,
-        7,3,0,0,127,126,1,0,0,0,128,129,1,0,0,0,129,127,1,0,0,0,129,130,
-        1,0,0,0,130,132,1,0,0,0,131,114,1,0,0,0,131,125,1,0,0,0,132,30,1,
-        0,0,0,133,134,5,47,0,0,134,135,5,47,0,0,135,139,1,0,0,0,136,138,
-        9,0,0,0,137,136,1,0,0,0,138,141,1,0,0,0,139,140,1,0,0,0,139,137,
-        1,0,0,0,140,143,1,0,0,0,141,139,1,0,0,0,142,144,5,13,0,0,143,142,
-        1,0,0,0,143,144,1,0,0,0,144,145,1,0,0,0,145,146,5,10,0,0,146,147,
-        1,0,0,0,147,148,6,15,0,0,148,32,1,0,0,0,149,151,7,4,0,0,150,149,
-        1,0,0,0,151,152,1,0,0,0,152,150,1,0,0,0,152,153,1,0,0,0,153,154,
-        1,0,0,0,154,155,6,16,0,0,155,34,1,0,0,0,12,0,97,101,107,111,116,
-        122,129,131,139,143,152,1,6,0,0
+        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,
+        6,1,6,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,10,1,10,1,10,1,11,1,11,
+        1,11,1,11,1,11,1,11,1,12,1,12,5,12,95,8,12,10,12,12,12,98,9,12,1,
+        13,3,13,101,8,13,1,13,1,13,5,13,105,8,13,10,13,12,13,108,9,13,1,
+        13,3,13,111,8,13,1,14,4,14,114,8,14,11,14,12,14,115,1,14,1,14,5,
+        14,120,8,14,10,14,12,14,123,9,14,1,14,1,14,4,14,127,8,14,11,14,12,
+        14,128,3,14,131,8,14,1,15,1,15,1,15,1,15,5,15,137,8,15,10,15,12,
+        15,140,9,15,1,15,3,15,143,8,15,1,15,1,15,1,15,1,15,1,16,4,16,150,
+        8,16,11,16,12,16,151,1,16,1,16,1,138,0,17,1,1,3,2,5,3,7,4,9,5,11,
+        6,13,7,15,8,17,9,19,10,21,11,23,12,25,13,27,14,29,15,31,16,33,17,
+        1,0,5,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,1,0,49,
+        57,1,0,48,57,3,0,9,10,12,13,32,32,165,0,1,1,0,0,0,0,3,1,0,0,0,0,
+        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,
+        1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,0,0,31,1,0,0,0,0,33,1,0,0,0,1,35,
+        1,0,0,0,3,37,1,0,0,0,5,39,1,0,0,0,7,48,1,0,0,0,9,57,1,0,0,0,11,66,
+        1,0,0,0,13,70,1,0,0,0,15,75,1,0,0,0,17,77,1,0,0,0,19,79,1,0,0,0,
+        21,81,1,0,0,0,23,86,1,0,0,0,25,92,1,0,0,0,27,110,1,0,0,0,29,130,
+        1,0,0,0,31,132,1,0,0,0,33,149,1,0,0,0,35,36,5,123,0,0,36,2,1,0,0,
+        0,37,38,5,125,0,0,38,4,1,0,0,0,39,40,5,115,0,0,40,41,5,101,0,0,41,
+        42,5,113,0,0,42,43,5,117,0,0,43,44,5,101,0,0,44,45,5,110,0,0,45,
+        46,5,99,0,0,46,47,5,101,0,0,47,6,1,0,0,0,48,49,5,115,0,0,49,50,5,
+        101,0,0,50,51,5,108,0,0,51,52,5,101,0,0,52,53,5,99,0,0,53,54,5,116,
+        0,0,54,55,5,111,0,0,55,56,5,114,0,0,56,8,1,0,0,0,57,58,5,112,0,0,
+        58,59,5,97,0,0,59,60,5,114,0,0,60,61,5,97,0,0,61,62,5,108,0,0,62,
+        63,5,108,0,0,63,64,5,101,0,0,64,65,5,108,0,0,65,10,1,0,0,0,66,67,
+        5,97,0,0,67,68,5,99,0,0,68,69,5,116,0,0,69,12,1,0,0,0,70,71,5,99,
+        0,0,71,72,5,111,0,0,72,73,5,110,0,0,73,74,5,100,0,0,74,14,1,0,0,
+        0,75,76,5,40,0,0,76,16,1,0,0,0,77,78,5,41,0,0,78,18,1,0,0,0,79,80,
+        5,44,0,0,80,20,1,0,0,0,81,82,5,84,0,0,82,83,5,114,0,0,83,84,5,117,
+        0,0,84,85,5,101,0,0,85,22,1,0,0,0,86,87,5,70,0,0,87,88,5,97,0,0,
+        88,89,5,108,0,0,89,90,5,115,0,0,90,91,5,101,0,0,91,24,1,0,0,0,92,
+        96,7,0,0,0,93,95,7,1,0,0,94,93,1,0,0,0,95,98,1,0,0,0,96,94,1,0,0,
+        0,96,97,1,0,0,0,97,26,1,0,0,0,98,96,1,0,0,0,99,101,5,45,0,0,100,
+        99,1,0,0,0,100,101,1,0,0,0,101,102,1,0,0,0,102,106,7,2,0,0,103,105,
+        7,3,0,0,104,103,1,0,0,0,105,108,1,0,0,0,106,104,1,0,0,0,106,107,
+        1,0,0,0,107,111,1,0,0,0,108,106,1,0,0,0,109,111,5,48,0,0,110,100,
+        1,0,0,0,110,109,1,0,0,0,111,28,1,0,0,0,112,114,7,3,0,0,113,112,1,
+        0,0,0,114,115,1,0,0,0,115,113,1,0,0,0,115,116,1,0,0,0,116,117,1,
+        0,0,0,117,121,5,46,0,0,118,120,7,3,0,0,119,118,1,0,0,0,120,123,1,
+        0,0,0,121,119,1,0,0,0,121,122,1,0,0,0,122,131,1,0,0,0,123,121,1,
+        0,0,0,124,126,5,46,0,0,125,127,7,3,0,0,126,125,1,0,0,0,127,128,1,
+        0,0,0,128,126,1,0,0,0,128,129,1,0,0,0,129,131,1,0,0,0,130,113,1,
+        0,0,0,130,124,1,0,0,0,131,30,1,0,0,0,132,133,5,47,0,0,133,134,5,
+        47,0,0,134,138,1,0,0,0,135,137,9,0,0,0,136,135,1,0,0,0,137,140,1,
+        0,0,0,138,139,1,0,0,0,138,136,1,0,0,0,139,142,1,0,0,0,140,138,1,
+        0,0,0,141,143,5,13,0,0,142,141,1,0,0,0,142,143,1,0,0,0,143,144,1,
+        0,0,0,144,145,5,10,0,0,145,146,1,0,0,0,146,147,6,15,0,0,147,32,1,
+        0,0,0,148,150,7,4,0,0,149,148,1,0,0,0,150,151,1,0,0,0,151,149,1,
+        0,0,0,151,152,1,0,0,0,152,153,1,0,0,0,153,154,6,16,0,0,154,34,1,
+        0,0,0,12,0,96,100,106,110,115,121,128,130,138,142,151,1,6,0,0
     ]
 
 class ptmlLexer(Lexer):
@@ -86,7 +85,7 @@ class ptmlLexer(Lexer):
     T__9 = 10
     T__10 = 11
     T__11 = 12
-    Names = 13
+    String = 13
     Integer = 14
     Float = 15
     LINE_COMMENT = 16
@@ -97,14 +96,14 @@ class ptmlLexer(Lexer):
     modeNames = [ "DEFAULT_MODE" ]
 
     literalNames = [ "<INVALID>",
-            "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'task'", 
+            "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'act'", 
             "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>",
-            "Names", "Integer", "Float", "LINE_COMMENT", "WS" ]
+            "String", "Integer", "Float", "LINE_COMMENT", "WS" ]
 
     ruleNames = [ "T__0", "T__1", "T__2", "T__3", "T__4", "T__5", "T__6", 
-                  "T__7", "T__8", "T__9", "T__10", "T__11", "Names", "Integer", 
+                  "T__7", "T__8", "T__9", "T__10", "T__11", "String", "Integer", 
                   "Float", "LINE_COMMENT", "WS" ]
 
     grammarFileName = "ptml.g4"
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.tokens b/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
index 1f7a813..6f604be 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
@@ -10,7 +10,7 @@ T__8=9
 T__9=10
 T__10=11
 T__11=12
-Names=13
+String=13
 Integer=14
 Float=15
 LINE_COMMENT=16
@@ -20,7 +20,7 @@ WS=17
 'sequence'=3
 'selector'=4
 'parallel'=5
-'task'=6
+'act'=6
 'cond'=7
 '('=8
 ')'=9
diff --git a/robowaiter/behavior_tree/ptml/ptmlListener.py b/robowaiter/behavior_tree/ptml/ptmlListener.py
index 41056b2..536aaf2 100644
--- a/robowaiter/behavior_tree/ptml/ptmlListener.py
+++ b/robowaiter/behavior_tree/ptml/ptmlListener.py
@@ -1,4 +1,4 @@
-# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
+# Generated from ptml.g4 by ANTLR 4.13.1
 from antlr4 import *
 if "." in __name__:
     from .ptmlParser import ptmlParser
diff --git a/robowaiter/behavior_tree/ptml/ptmlParser.py b/robowaiter/behavior_tree/ptml/ptmlParser.py
index 9af021d..d0c787d 100644
--- a/robowaiter/behavior_tree/ptml/ptmlParser.py
+++ b/robowaiter/behavior_tree/ptml/ptmlParser.py
@@ -1,4 +1,4 @@
-# Generated from E:/Projects/UE5/HARIX_RDKSim/Plugins/HarixSim/Python/ptml/ptml.g4 by ANTLR 4.13.1
+# Generated from ptml.g4 by ANTLR 4.13.1
 # encoding: utf-8
 from antlr4 import *
 from io import StringIO
@@ -10,26 +10,27 @@ else:
 
 def serializedATN():
     return [
-        4,1,17,62,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
+        4,1,17,64,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
         0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,4,1,24,8,1,11,1,12,
         1,25,1,1,1,1,1,2,1,2,1,2,1,2,3,2,34,8,2,1,3,1,3,1,3,1,3,3,3,40,8,
-        3,1,3,1,3,1,4,1,4,1,4,3,4,47,8,4,1,4,1,4,1,4,1,4,3,4,53,8,4,5,4,
-        55,8,4,10,4,12,4,58,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,2,1,0,6,
-        7,1,0,11,12,66,0,13,1,0,0,0,2,19,1,0,0,0,4,33,1,0,0,0,6,35,1,0,0,
-        0,8,46,1,0,0,0,10,59,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,0,14,15,1,
-        0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17,18,5,0,0,1,18,
-        1,1,0,0,0,19,20,3,4,2,0,20,23,5,1,0,0,21,24,3,6,3,0,22,24,3,2,1,
-        0,23,21,1,0,0,0,23,22,1,0,0,0,24,25,1,0,0,0,25,23,1,0,0,0,25,26,
-        1,0,0,0,26,27,1,0,0,0,27,28,5,2,0,0,28,3,1,0,0,0,29,34,5,3,0,0,30,
-        34,5,4,0,0,31,32,5,5,0,0,32,34,5,14,0,0,33,29,1,0,0,0,33,30,1,0,
-        0,0,33,31,1,0,0,0,34,5,1,0,0,0,35,36,7,0,0,0,36,37,5,13,0,0,37,39,
-        5,8,0,0,38,40,3,8,4,0,39,38,1,0,0,0,39,40,1,0,0,0,40,41,1,0,0,0,
-        41,42,5,9,0,0,42,7,1,0,0,0,43,47,5,14,0,0,44,47,5,15,0,0,45,47,3,
-        10,5,0,46,43,1,0,0,0,46,44,1,0,0,0,46,45,1,0,0,0,47,56,1,0,0,0,48,
-        52,5,10,0,0,49,53,5,14,0,0,50,53,5,15,0,0,51,53,3,10,5,0,52,49,1,
-        0,0,0,52,50,1,0,0,0,52,51,1,0,0,0,53,55,1,0,0,0,54,48,1,0,0,0,55,
-        58,1,0,0,0,56,54,1,0,0,0,56,57,1,0,0,0,57,9,1,0,0,0,58,56,1,0,0,
-        0,59,60,7,1,0,0,60,11,1,0,0,0,8,15,23,25,33,39,46,52,56
+        3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,48,8,4,1,4,1,4,1,4,1,4,1,4,3,4,55,
+        8,4,5,4,57,8,4,10,4,12,4,60,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,
+        2,1,0,6,7,1,0,11,12,70,0,13,1,0,0,0,2,19,1,0,0,0,4,33,1,0,0,0,6,
+        35,1,0,0,0,8,47,1,0,0,0,10,61,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,
+        0,14,15,1,0,0,0,15,13,1,0,0,0,15,16,1,0,0,0,16,17,1,0,0,0,17,18,
+        5,0,0,1,18,1,1,0,0,0,19,20,3,4,2,0,20,23,5,1,0,0,21,24,3,6,3,0,22,
+        24,3,2,1,0,23,21,1,0,0,0,23,22,1,0,0,0,24,25,1,0,0,0,25,23,1,0,0,
+        0,25,26,1,0,0,0,26,27,1,0,0,0,27,28,5,2,0,0,28,3,1,0,0,0,29,34,5,
+        3,0,0,30,34,5,4,0,0,31,32,5,5,0,0,32,34,5,14,0,0,33,29,1,0,0,0,33,
+        30,1,0,0,0,33,31,1,0,0,0,34,5,1,0,0,0,35,36,7,0,0,0,36,37,5,13,0,
+        0,37,39,5,8,0,0,38,40,3,8,4,0,39,38,1,0,0,0,39,40,1,0,0,0,40,41,
+        1,0,0,0,41,42,5,9,0,0,42,7,1,0,0,0,43,48,5,14,0,0,44,48,5,15,0,0,
+        45,48,3,10,5,0,46,48,5,13,0,0,47,43,1,0,0,0,47,44,1,0,0,0,47,45,
+        1,0,0,0,47,46,1,0,0,0,48,58,1,0,0,0,49,54,5,10,0,0,50,55,5,14,0,
+        0,51,55,5,15,0,0,52,55,3,10,5,0,53,55,5,13,0,0,54,50,1,0,0,0,54,
+        51,1,0,0,0,54,52,1,0,0,0,54,53,1,0,0,0,55,57,1,0,0,0,56,49,1,0,0,
+        0,57,60,1,0,0,0,58,56,1,0,0,0,58,59,1,0,0,0,59,9,1,0,0,0,60,58,1,
+        0,0,0,61,62,7,1,0,0,62,11,1,0,0,0,8,15,23,25,33,39,47,54,58
     ]
 
 class ptmlParser ( Parser ):
@@ -43,13 +44,13 @@ class ptmlParser ( Parser ):
     sharedContextCache = PredictionContextCache()
 
     literalNames = [ "<INVALID>", "'{'", "'}'", "'sequence'", "'selector'", 
-                     "'parallel'", "'task'", "'cond'", "'('", "')'", "','", 
+                     "'parallel'", "'act'", "'cond'", "'('", "')'", "','", 
                      "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
-                      "<INVALID>", "Names", "Integer", "Float", "LINE_COMMENT", 
+                      "<INVALID>", "String", "Integer", "Float", "LINE_COMMENT", 
                       "WS" ]
 
     RULE_root = 0
@@ -75,7 +76,7 @@ class ptmlParser ( Parser ):
     T__9=10
     T__10=11
     T__11=12
-    Names=13
+    String=13
     Integer=14
     Float=15
     LINE_COMMENT=16
@@ -304,8 +305,8 @@ class ptmlParser ( Parser ):
             super().__init__(parent, invokingState)
             self.parser = parser
 
-        def Names(self):
-            return self.getToken(ptmlParser.Names, 0)
+        def String(self):
+            return self.getToken(ptmlParser.String, 0)
 
         def action_parm(self):
             return self.getTypedRuleContext(ptmlParser.Action_parmContext,0)
@@ -340,13 +341,13 @@ class ptmlParser ( Parser ):
                 self._errHandler.reportMatch(self)
                 self.consume()
             self.state = 36
-            self.match(ptmlParser.Names)
+            self.match(ptmlParser.String)
             self.state = 37
             self.match(ptmlParser.T__7)
             self.state = 39
             self._errHandler.sync(self)
             _la = self._input.LA(1)
-            if (((_la) & ~0x3f) == 0 and ((1 << _la) & 55296) != 0):
+            if (((_la) & ~0x3f) == 0 and ((1 << _la) & 63488) != 0):
                 self.state = 38
                 self.action_parm()
 
@@ -388,6 +389,12 @@ class ptmlParser ( Parser ):
                 return self.getTypedRuleContext(ptmlParser.BooleanContext,i)
 
 
+        def String(self, i:int=None):
+            if i is None:
+                return self.getTokens(ptmlParser.String)
+            else:
+                return self.getToken(ptmlParser.String, i)
+
         def getRuleIndex(self):
             return ptmlParser.RULE_action_parm
 
@@ -409,7 +416,7 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 46
+            self.state = 47
             self._errHandler.sync(self)
             token = self._input.LA(1)
             if token in [14]:
@@ -424,34 +431,42 @@ class ptmlParser ( Parser ):
                 self.state = 45
                 self.boolean()
                 pass
+            elif token in [13]:
+                self.state = 46
+                self.match(ptmlParser.String)
+                pass
             else:
                 raise NoViableAltException(self)
 
-            self.state = 56
+            self.state = 58
             self._errHandler.sync(self)
             _la = self._input.LA(1)
             while _la==10:
-                self.state = 48
+                self.state = 49
                 self.match(ptmlParser.T__9)
-                self.state = 52
+                self.state = 54
                 self._errHandler.sync(self)
                 token = self._input.LA(1)
                 if token in [14]:
-                    self.state = 49
+                    self.state = 50
                     self.match(ptmlParser.Integer)
                     pass
                 elif token in [15]:
-                    self.state = 50
+                    self.state = 51
                     self.match(ptmlParser.Float)
                     pass
                 elif token in [11, 12]:
-                    self.state = 51
+                    self.state = 52
                     self.boolean()
                     pass
+                elif token in [13]:
+                    self.state = 53
+                    self.match(ptmlParser.String)
+                    pass
                 else:
                     raise NoViableAltException(self)
 
-                self.state = 58
+                self.state = 60
                 self._errHandler.sync(self)
                 _la = self._input.LA(1)
 
@@ -493,7 +508,7 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 59
+            self.state = 61
             _la = self._input.LA(1)
             if not(_la==11 or _la==12):
                 self._errHandler.recoverInline(self)
diff --git a/robowaiter/behavior_tree/ptml/ptmlTranslator.py b/robowaiter/behavior_tree/ptml/ptmlTranslator.py
index d0b13b4..b6fe0ed 100644
--- a/robowaiter/behavior_tree/ptml/ptmlTranslator.py
+++ b/robowaiter/behavior_tree/ptml/ptmlTranslator.py
@@ -76,9 +76,9 @@ class ptmlTranslator(ptmlListener):
 
     # Enter a parse tree produced by ptmlParser#action_sign.
     def enterAction_sign(self, ctx: ptmlParser.Action_signContext):
-        # cond / task
+        # cond / act
         node_type = str(ctx.children[0])
-        name = str(ctx.Names())
+        name = str(ctx.String())
 
         # if have params
         args = []
@@ -88,22 +88,21 @@ class ptmlTranslator(ptmlListener):
             for i in params.children:
                 if isinstance(i, ptmlParser.BooleanContext):
                     args.append(str(i.children[0]))
+                elif str(i)==',':
+                    args.append(',')
                 else:
-                    args.append(str(i))
+                    args.append(f"'{i}'")
 
         args = "".join(args)
 
-        import sys
 
-        sys.path.append(self.behaviour_lib_path)
-
-        exec("from {} import {}".format(name, name))
+        exec(f"from {name} import {name}")
         #
-        tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
+        # tag = "cond_" + short_uuid() if node_type == "cond" else "task_" + short_uuid()
 
-        node = eval(
-            "{}('{}', scene, {})".format(name, tag, args), {"scene": self.scene, **locals()}
-        )
+        print(f'create node: {name}({args})')
+        node = eval(f"{name}({args})")
+        node.set_scene(self.scene)
 
         # connect
         self.stack[-1].add_child(node)
diff --git a/robowaiter/behavior_tree/ptml/ptml_test.py b/robowaiter/behavior_tree/ptml/ptml_test.py
deleted file mode 100644
index bdcd3d2..0000000
--- a/robowaiter/behavior_tree/ptml/ptml_test.py
+++ /dev/null
@@ -1,22 +0,0 @@
-import os
-import py_trees as ptree
-
-from scene import scene
-from ptmlCompiler import load
-
-
-if __name__ == '__main__':
-
-    project_path = ""
-
-    ptml_path = os.path.join(project_path, 'CoffeeDelivery.ptml')
-    behavior_lib_path = os.path.join(project_path, '../../behavior_lib')
-
-    scene = control.Scene(sceneID=0)
-    # load
-    scene.load_BT(ptml_path, behavior_lib_path)
-    # ptree.display.render_dot_tree(bt)
-    # build and tick
-    scene.BT = ptree.trees.BehaviourTree(scene.BT)
-    # todo: tick this bt
-    print(scene.BT)
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/ptml/sequence_oufbg8fg.dot b/robowaiter/behavior_tree/ptml/sequence_oufbg8fg.dot
deleted file mode 100644
index 79e4ba9..0000000
--- a/robowaiter/behavior_tree/ptml/sequence_oufbg8fg.dot
+++ /dev/null
@@ -1,45 +0,0 @@
-digraph pastafarianism {
-ordering=out;
-graph [fontname="times-roman"];
-node [fontname="times-roman"];
-edge [fontname="times-roman"];
-sequence_oUFBg8fG [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_oUFBg8fG, shape=box, style=filled];
-selector_mPAUGPy3 [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_mPAUGPy3, shape=octagon, style=filled];
-sequence_oUFBg8fG -> selector_mPAUGPy3;
-cond_G7w6nx8B [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_G7w6nx8B, shape=ellipse, style=filled];
-selector_mPAUGPy3 -> cond_G7w6nx8B;
-task_XjF4V8bW [fillcolor=gray, fontcolor=black, fontsize=9, label=task_XjF4V8bW, shape=ellipse, style=filled];
-selector_mPAUGPy3 -> task_XjF4V8bW;
-sequence_n3nzZvgz [fillcolor=orange, fontcolor=black, fontsize=9, label=sequence_n3nzZvgz, shape=box, style=filled];
-selector_mPAUGPy3 -> sequence_n3nzZvgz;
-cond_KCt2aubU [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_KCt2aubU, shape=ellipse, style=filled];
-sequence_n3nzZvgz -> cond_KCt2aubU;
-task_a8inFHcZ [fillcolor=gray, fontcolor=black, fontsize=9, label=task_a8inFHcZ, shape=ellipse, style=filled];
-sequence_n3nzZvgz -> task_a8inFHcZ;
-task_YF2aiEPZ [fillcolor=gray, fontcolor=black, fontsize=9, label=task_YF2aiEPZ, shape=ellipse, style=filled];
-sequence_n3nzZvgz -> task_YF2aiEPZ;
-parallel_WEe6n4ym [fillcolor=gold, fontcolor=black, fontsize=9, label="parallel_WEe6n4ym\ntype", shape=parallelogram, style=filled];
-sequence_n3nzZvgz -> parallel_WEe6n4ym;
-cond_mRQoZb2w [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_mRQoZb2w, shape=ellipse, style=filled];
-parallel_WEe6n4ym -> cond_mRQoZb2w;
-task_MW4BQ2XF [fillcolor=gray, fontcolor=black, fontsize=9, label=task_MW4BQ2XF, shape=ellipse, style=filled];
-parallel_WEe6n4ym -> task_MW4BQ2XF;
-selector_tU6G7YK6 [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_tU6G7YK6, shape=octagon, style=filled];
-sequence_oUFBg8fG -> selector_tU6G7YK6;
-cond_UMTzm9kK [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_UMTzm9kK, shape=ellipse, style=filled];
-selector_tU6G7YK6 -> cond_UMTzm9kK;
-task_fnpwP2Lu [fillcolor=gray, fontcolor=black, fontsize=9, label=task_fnpwP2Lu, shape=ellipse, style=filled];
-selector_tU6G7YK6 -> task_fnpwP2Lu;
-selector_qm8Zexyr [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_qm8Zexyr, shape=octagon, style=filled];
-sequence_oUFBg8fG -> selector_qm8Zexyr;
-cond_g2umcjH4 [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_g2umcjH4, shape=ellipse, style=filled];
-selector_qm8Zexyr -> cond_g2umcjH4;
-task_H5nwyj3V [fillcolor=gray, fontcolor=black, fontsize=9, label=task_H5nwyj3V, shape=ellipse, style=filled];
-selector_qm8Zexyr -> task_H5nwyj3V;
-selector_9SJMhckE [fillcolor=cyan, fontcolor=black, fontsize=9, label=selector_9SJMhckE, shape=octagon, style=filled];
-sequence_oUFBg8fG -> selector_9SJMhckE;
-cond_D8fqA35b [fillcolor=gray, fontcolor=black, fontsize=9, label=cond_D8fqA35b, shape=ellipse, style=filled];
-selector_9SJMhckE -> cond_D8fqA35b;
-task_EikNgjy4 [fillcolor=gray, fontcolor=black, fontsize=9, label=task_EikNgjy4, shape=ellipse, style=filled];
-selector_9SJMhckE -> task_EikNgjy4;
-}
diff --git a/robowaiter/behavior_tree/ptml/CoffeeDelivery.ptml b/robowaiter/behavior_tree/ptml/test/CoffeeDelivery.ptml
similarity index 64%
rename from robowaiter/behavior_tree/ptml/CoffeeDelivery.ptml
rename to robowaiter/behavior_tree/ptml/test/CoffeeDelivery.ptml
index 7f1b11f..f6ce360 100644
--- a/robowaiter/behavior_tree/ptml/CoffeeDelivery.ptml
+++ b/robowaiter/behavior_tree/ptml/test/CoffeeDelivery.ptml
@@ -9,27 +9,27 @@
 sequence{
     selector{
         cond CoffeeCupFound()
-        task FindCoffeeCup()
+        act FindCoffeeCup()
         sequence{
             cond SeqTest()
-            task Move(1.2, 2, 2.3, True)
-            task Grasp()
+            act Move(1.2, 2, 2.3, True)
+            act Grasp()
             parallel 3 {
-                cond Istask()
-                task TestTask()
+                cond Isact()
+                act Testact()
             }
         }
     }
     selector{
         cond CoffeeCupGrasped()
-        task GraspCoffeeCup()
+        act GraspCoffeeCup()
     }
     selector{
         cond DestinationAReached()
-        task ReachDestinationA()
+        act ReachDestinationA()
     }
     selector{
         cond CoffeeCupPlaced()
-        task PlaceCoffeeCup()
+        act PlaceCoffeeCup()
     }
 }
diff --git a/robowaiter/behavior_tree/ptml/test/Test.ptml b/robowaiter/behavior_tree/ptml/test/Test.ptml
new file mode 100644
index 0000000..62564fa
--- /dev/null
+++ b/robowaiter/behavior_tree/ptml/test/Test.ptml
@@ -0,0 +1,7 @@
+selector{
+    sequence{
+        cond Chatting()
+        act DealChat()
+    }
+    act At(Coffee,Table)
+}
diff --git a/robowaiter/behavior_tree/ptml/test/__init__.py b/robowaiter/behavior_tree/ptml/test/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/robowaiter/behavior_tree/ptml/test/ptml_test.py b/robowaiter/behavior_tree/ptml/test/ptml_test.py
new file mode 100644
index 0000000..d4c84ba
--- /dev/null
+++ b/robowaiter/behavior_tree/ptml/test/ptml_test.py
@@ -0,0 +1,28 @@
+import os
+import py_trees as ptree
+
+from robowaiter.scene.scene import Scene
+from robowaiter.behavior_tree.ptml.ptmlCompiler import load
+
+import os
+from robowaiter import Robot, task_map
+
+
+if __name__ == '__main__':
+    TASK_NAME = 'OT'
+
+    # create robot
+    project_path = "../../../"
+    ptml_path = os.path.join(project_path, 'behavior_tree/ptml/test/Test.ptml')
+    behavior_lib_path = os.path.join(project_path, 'behavior_lib')
+
+    robot = Robot(ptml_path, behavior_lib_path)
+
+    # create task
+    task = task_map[TASK_NAME](robot)
+
+    ptree.display.render_dot_tree(robot.bt.root,name="test")
+    # build and tick
+    # scene.BT = ptree.trees.BehaviourTree(scene.BT)
+    # todo: tick this bt
+    print(robot.bt)
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/test/ptml.g4 b/robowaiter/behavior_tree/test/ptml.g4
new file mode 100644
index 0000000..0a545a9
--- /dev/null
+++ b/robowaiter/behavior_tree/test/ptml.g4
@@ -0,0 +1,20 @@
+grammar ptml;
+
+root            : tree+ EOF;
+
+tree    		: internal_node '{' (action_sign|tree)+ '}' ;
+internal_node   : 'sequence' | 'selector' | 'parallel' Integer ;
+action_sign     : ('task'|'cond') Names '(' action_parm? ')';
+action_parm     : (Integer|Float|boolean) (',' (Integer|Float|boolean))* ;
+// var_decls		: var_type Names ;
+// var_type		: 'int' | 'float' | 'bool' | 'string' ;
+boolean         : 'True' | 'False' ;
+
+Names 			: [a-zA-Z_][a-zA-Z_0-9]* ;
+Integer         : '-'?[1-9][0-9]* | '0' ;
+Float           : [0-9]+'.'[0-9]* | '.'[0-9]+ ;
+
+// comments
+LINE_COMMENT    : '//' .*? '\r'?'\n' -> skip ;
+// useless
+WS				: [ \t\u000C\r\n]+ -> skip ;
diff --git a/robowaiter/robot/Default.ptml b/robowaiter/robot/Default.ptml
index 52435e2..a854839 100644
--- a/robowaiter/robot/Default.ptml
+++ b/robowaiter/robot/Default.ptml
@@ -1,4 +1,7 @@
-sequence{
-    cond Chatting()
-    task DealChat()
+selector{
+    sequence{
+        cond Chatting()
+        act DealChat()
+    }
+    act At("Coffee","Table")
 }
diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index f266f8c..c44f692 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -59,15 +59,16 @@ class Scene:
         collision: str, info: str
     """
 
-    def __init__(self,robot, sceneID=0):
+    def __init__(self,robot=None, sceneID=0):
         self.sceneID = sceneID
         self.use_offset = True
         self.start_time = time.time()
         self.time = 0
 
         # init robot
-        robot.set_scene(self)
-        robot.load_BT()
+        if robot:
+            robot.set_scene(self)
+            robot.load_BT()
         self.robot = robot
 
 
diff --git a/robowaiter/scene/tasks/Open_tasks.py b/robowaiter/scene/tasks/Open_tasks.py
index 47a4792..973b2bb 100644
--- a/robowaiter/scene/tasks/Open_tasks.py
+++ b/robowaiter/scene/tasks/Open_tasks.py
@@ -17,13 +17,16 @@ class SceneOT(Scene):
         super().__init__(robot)
 
     def _reset(self):
-        self.reset_sim()
-
         self.add_walker(1085, 2630, 220)
         self.control_walker([self.walker_control_generator(0, False, 100, 755, 1900, 180)])
 
+
     def _run(self):
         pass
 
     def _step(self):
-        pass
\ No newline at end of file
+
+        if int(self.time)  == 5:
+            print("顾客说：给我一杯咖啡")
+            self.chat_bubble('顾客说：给我一杯咖啡')
+            self.state['chat_list'].append('给我一杯咖啡')
diff --git a/run_robowaiter.py b/run_robowaiter.py
index afef9f9..a137bf8 100644
--- a/run_robowaiter.py
+++ b/run_robowaiter.py
@@ -1,7 +1,7 @@
 import os
 from robowaiter import Robot, task_map
 
-TASK_NAME = 'GQA'
+TASK_NAME = 'OT'
 
 # create robot
 project_path = "./robowaiter"
diff --git a/robowaiter/behavior_lib/Behavior.py b/zoo/behavior_lib/Behavior.py
similarity index 90%
rename from robowaiter/behavior_lib/Behavior.py
rename to zoo/behavior_lib/Behavior.py
index 0dc9b61..850459a 100644
--- a/robowaiter/behavior_lib/Behavior.py
+++ b/zoo/behavior_lib/Behavior.py
@@ -1,7 +1,7 @@
 import py_trees as ptree
 from typing import Any
 
-# base Behavior
+# _base Behavior
 class Bahavior(ptree.behaviour.Behaviour):
     scene = None
     def __init__(self, name: str, scene):
@@ -15,7 +15,7 @@ class Bahavior(ptree.behaviour.Behaviour):
         return super().initialise()
 
     def _update(self) -> ptree.common.Status:
-        print("this is just a base behavior node.")
+        print("this is just a _base behavior node.")
 
 
     def update(self) -> ptree.common.Status:
diff --git a/robowaiter/behavior_lib/Chatting.py b/zoo/behavior_lib/Chatting.py
similarity index 91%
rename from robowaiter/behavior_lib/Chatting.py
rename to zoo/behavior_lib/Chatting.py
index 284e5c1..563c23f 100644
--- a/robowaiter/behavior_lib/Chatting.py
+++ b/zoo/behavior_lib/Chatting.py
@@ -1,6 +1,6 @@
 import py_trees as ptree
 from typing import Any
-from robowaiter.behavior_lib.Behavior import Bahavior
+from robowaiter.behavior_lib._base.Behavior import Bahavior
 
 class Chatting(Bahavior):
     def __init__(self, name: str, scene):
diff --git a/robowaiter/behavior_lib/CoffeeCupFound.py b/zoo/behavior_lib/CoffeeCupFound.py
similarity index 90%
rename from robowaiter/behavior_lib/CoffeeCupFound.py
rename to zoo/behavior_lib/CoffeeCupFound.py
index 3357a01..e7130ec 100644
--- a/robowaiter/behavior_lib/CoffeeCupFound.py
+++ b/zoo/behavior_lib/CoffeeCupFound.py
@@ -1,6 +1,6 @@
 import py_trees as ptree
 from typing import Any
-from robowaiter.behavior_lib.Behavior import Bahavior
+from robowaiter.behavior_lib._base.Behavior import Bahavior
 
 class CoffeeCupFound(Bahavior):
     def __init__(self, name: str, scene):
diff --git a/robowaiter/behavior_lib/CoffeeCupGrasped.py b/zoo/behavior_lib/CoffeeCupGrasped.py
similarity index 90%
rename from robowaiter/behavior_lib/CoffeeCupGrasped.py
rename to zoo/behavior_lib/CoffeeCupGrasped.py
index a2e00b8..32c010a 100644
--- a/robowaiter/behavior_lib/CoffeeCupGrasped.py
+++ b/zoo/behavior_lib/CoffeeCupGrasped.py
@@ -1,6 +1,6 @@
 import py_trees as ptree
 from typing import Any
-from robowaiter.behavior_lib.Behavior import Bahavior
+from robowaiter.behavior_lib._base.Behavior import Bahavior
 
 class CoffeeCupGrasped(Bahavior):
     def __init__(self, name: str, scene):
diff --git a/robowaiter/behavior_lib/CoffeeCupPlaced.py b/zoo/behavior_lib/CoffeeCupPlaced.py
similarity index 100%
rename from robowaiter/behavior_lib/CoffeeCupPlaced.py
rename to zoo/behavior_lib/CoffeeCupPlaced.py
diff --git a/robowaiter/behavior_lib/DealChat.py b/zoo/behavior_lib/DealChat.py
similarity index 92%
rename from robowaiter/behavior_lib/DealChat.py
rename to zoo/behavior_lib/DealChat.py
index be8c3c2..c1fee07 100644
--- a/robowaiter/behavior_lib/DealChat.py
+++ b/zoo/behavior_lib/DealChat.py
@@ -1,6 +1,6 @@
 import py_trees as ptree
 from typing import Any
-from robowaiter.behavior_lib.Behavior import Bahavior
+from robowaiter.behavior_lib._base.Behavior import Bahavior
 from robowaiter.llm_client.ask_llm import ask_llm
 
 class DealChat(Bahavior):
diff --git a/robowaiter/behavior_lib/DestinationAReached.py b/zoo/behavior_lib/DestinationAReached.py
similarity index 100%
rename from robowaiter/behavior_lib/DestinationAReached.py
rename to zoo/behavior_lib/DestinationAReached.py
diff --git a/robowaiter/behavior_lib/FindCoffeeCup.py b/zoo/behavior_lib/FindCoffeeCup.py
similarity index 100%
rename from robowaiter/behavior_lib/FindCoffeeCup.py
rename to zoo/behavior_lib/FindCoffeeCup.py
diff --git a/zoo/behavior_lib/Grasp.py b/zoo/behavior_lib/Grasp.py
new file mode 100644
index 0000000..57c5708
--- /dev/null
+++ b/zoo/behavior_lib/Grasp.py
@@ -0,0 +1,21 @@
+import py_trees as ptree
+from typing import Any
+
+class Grasp(ptree.behaviour.Behaviour):
+
+    def __init__(self, name: str, scene):
+        super().__init__(name)
+
+    def setup(self, **kwargs: Any) -> None:
+        return super().setup(**kwargs)
+    
+    def initialise(self) -> None:
+        return super().initialise()
+    
+    def _update(self) -> ptree.common.Status:
+        print('Start checking IsChatting...')
+        return ptree.common.Status.SUCCESS
+    
+    def terminate(self, new_status: ptree.common.Status) -> None:
+        return super().terminate(new_status)
+    
\ No newline at end of file
diff --git a/robowaiter/behavior_lib/GraspCoffeeCup.py b/zoo/behavior_lib/GraspCoffeeCup.py
similarity index 100%
rename from robowaiter/behavior_lib/GraspCoffeeCup.py
rename to zoo/behavior_lib/GraspCoffeeCup.py
diff --git a/robowaiter/behavior_lib/Istask.py b/zoo/behavior_lib/Istask.py
similarity index 100%
rename from robowaiter/behavior_lib/Istask.py
rename to zoo/behavior_lib/Istask.py
diff --git a/zoo/behavior_lib/MoveTo.py b/zoo/behavior_lib/MoveTo.py
new file mode 100644
index 0000000..516e9dc
--- /dev/null
+++ b/zoo/behavior_lib/MoveTo.py
@@ -0,0 +1,21 @@
+import py_trees as ptree
+from typing import Any
+
+class MoveTo(ptree.behaviour.Behaviour):
+
+    def __init__(self, name: str, scene, a, b, c, d):
+        super().__init__(name)
+
+    def setup(self, **kwargs: Any) -> None:
+        return super().setup(**kwargs)
+    
+    def initialise(self) -> None:
+        return super().initialise()
+    
+    def _update(self) -> ptree.common.Status:
+        print('Start checking IsChatting...')
+        return ptree.common.Status.SUCCESS
+    
+    def terminate(self, new_status: ptree.common.Status) -> None:
+        return super().terminate(new_status)
+    
\ No newline at end of file
diff --git a/robowaiter/behavior_lib/PlaceCoffeeCup.py b/zoo/behavior_lib/PlaceCoffeeCup.py
similarity index 100%
rename from robowaiter/behavior_lib/PlaceCoffeeCup.py
rename to zoo/behavior_lib/PlaceCoffeeCup.py
diff --git a/robowaiter/behavior_lib/ReachDestinationA.py b/zoo/behavior_lib/ReachDestinationA.py
similarity index 100%
rename from robowaiter/behavior_lib/ReachDestinationA.py
rename to zoo/behavior_lib/ReachDestinationA.py
diff --git a/robowaiter/behavior_lib/SeqTest.py b/zoo/behavior_lib/SeqTest.py
similarity index 100%
rename from robowaiter/behavior_lib/SeqTest.py
rename to zoo/behavior_lib/SeqTest.py
diff --git a/robowaiter/behavior_lib/TestTask.py b/zoo/behavior_lib/TestTask.py
similarity index 100%
rename from robowaiter/behavior_lib/TestTask.py
rename to zoo/behavior_lib/TestTask.py
diff --git a/zoo/behavior_lib/__init__.py b/zoo/behavior_lib/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/zoo/opt_bt_expansion/BehaviorTree.py b/zoo/opt_bt_expansion/BehaviorTree.py
new file mode 100644
index 0000000..4513a20
--- /dev/null
+++ b/zoo/opt_bt_expansion/BehaviorTree.py
@@ -0,0 +1,95 @@
+
+#叶结点
+class Leaf:
+    def __init__(self,type,content,mincost):
+        self.type=type
+        self.content=content #conditionset or action
+        self.parent=None
+        self.parent_index=0
+        self.mincost=mincost
+
+    # tick 叶节点，返回返回值以及对应的条件或行动对象self.content
+    def tick(self,state):
+        if self.type=='cond':
+            if self.content <= state:
+                return 'success',self.content
+            else:
+                return 'failure',self.content
+        if self.type=='act':
+            if self.content.pre<=state:
+                return 'running',self.content #action
+            else:
+                return 'failure',self.content
+
+    def __str__(self):
+        print( self.content)
+        return ''
+
+    def print_nodes(self):
+        print(self.content)
+
+    def count_size(self):
+        return 1
+
+
+#可能包含控制结点的行为树
+class ControlBT:
+    def __init__(self,type):
+        self.type=type
+        self.children=[]
+        self.parent=None
+        self.parent_index=0
+
+
+    def add_child(self,subtree_list):
+        for subtree in subtree_list:
+            self.children.append(subtree)
+            subtree.parent=self
+            subtree.parent_index=len(self.children)-1
+
+    # tick行为树，根据不同控制结点逻辑tick子结点
+    def tick(self,state):
+        if len(self.children) < 1:
+            print("error,no child")
+        if self.type =='?':#选择结点，即或结点
+            for child in self.children:
+                val,obj=child.tick(state)
+                if val=='success':
+                    return val,obj
+                if val=='running':
+                    return val,obj
+            return 'failure','?fails'
+        if self.type =='>':#顺序结点，即与结点
+            for child in self.children:
+                val,obj=child.tick(state)
+                if val=='failure':
+                    return val,obj
+                if val=='running':
+                    return val,obj
+            return 'success', '>success'
+        if self.type =='act':#行动结点
+            return self.children[0].tick(state)
+        if self.type =='cond':#条件结点
+            return self.children[0].tick(state)
+
+    def getFirstChild(self):
+        return self.children[0]
+
+    def __str__(self):
+        print(self.type+'\n')
+        for child in self.children:
+            print (child)
+        return ''
+
+    def print_nodes(self):
+        print(self.type)
+        for child in self.children:
+            child.print_nodes()
+
+    # 递归统计树中结点数
+    def count_size(self):
+        result=1
+        for child in self.children:
+            result+= child.count_size()
+        return result
+
diff --git a/opt_bt_expansion/MakeCoffee.ptml b/zoo/opt_bt_expansion/MakeCoffee.ptml
similarity index 100%
rename from opt_bt_expansion/MakeCoffee.ptml
rename to zoo/opt_bt_expansion/MakeCoffee.ptml
diff --git a/zoo/opt_bt_expansion/OptimalBTExpansionAlgorithm.py b/zoo/opt_bt_expansion/OptimalBTExpansionAlgorithm.py
new file mode 100644
index 0000000..6ec11d5
--- /dev/null
+++ b/zoo/opt_bt_expansion/OptimalBTExpansionAlgorithm.py
@@ -0,0 +1,210 @@
+import copy
+import random
+from robowaiter.behavior_tree.obtea.BehaviorTree import Leaf,ControlBT
+
+class CondActPair:
+    def __init__(self, cond_leaf,act_leaf):
+        self.cond_leaf = cond_leaf
+        self.act_leaf = act_leaf
+
+#定义行动类，行动包括前提、增加和删除影响
+class Action:
+    def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1):
+        self.pre=copy.deepcopy(pre)
+        self.add=copy.deepcopy(add)
+        self.del_set=copy.deepcopy(del_set)
+        self.name=name
+        self.cost=cost
+
+    def __str__(self):
+        return self.name
+
+#生成随机状态
+def generate_random_state(num):
+    result = set()
+    for i in range(0,num):
+        if random.random()>0.5:
+            result.add(i)
+    return result
+#从状态和行动生成后继状态
+def state_transition(state,action):
+    if not action.pre <= state:
+        print ('error: action not applicable')
+        return state
+    new_state=(state | action.add) - action.del_set
+    return new_state
+
+
+#本文所提出的完备规划算法
+class OptBTExpAlgorithm:
+    def __init__(self,verbose=False):
+        self.bt = None
+        self.nodes=[]
+        self.traversed=[]
+        self.mounted=[]
+        self.conditions=[]
+        self.conditions_index=[]
+        self.verbose=verbose
+
+    def clear(self):
+        self.bt = None
+        self.nodes = []
+        self.traversed = []
+        self.conditions = []
+        self.conditions_index = []
+
+    #运行规划算法，从初始状态、目标状态和可用行动，计算行为树self.bt
+    def run_algorithm(self,goal,actions):
+        if self.verbose:
+            print("\n算法开始！")
+
+
+        self.bt = ControlBT(type='cond')
+        # 初始行为树只包含目标条件
+        gc_node = Leaf(type='cond', content=goal,mincost=0) # 为了统一，都成对出现
+        ga_node = Leaf(type='act', content=None, mincost=0)
+        subtree = ControlBT(type='?')
+        subtree.add_child([copy.deepcopy(gc_node)])  # 子树首先保留所扩展结
+        self.bt.add_child([subtree])
+
+        # self.conditions.append(goal)
+        cond_anc_pair = CondActPair(cond_leaf=gc_node,act_leaf=ga_node)
+        self.nodes.append(copy.deepcopy(cond_anc_pair)) # the set of explored but unexpanded conditions
+        self.traversed = [goal] # the set of expanded conditions
+
+
+        while len(self.nodes)!=0:
+
+            #  Find the condition for the shortest cost path
+            pair_node = None
+            min_cost = float ('inf')
+            index= -1
+            for i,cond_anc_pair in enumerate(self.nodes):
+                if cond_anc_pair.cond_leaf.mincost < min_cost:
+                    min_cost = cond_anc_pair.cond_leaf.mincost
+                    pair_node = copy.deepcopy(cond_anc_pair)
+                    index = i
+                    break
+
+            if self.verbose:
+                print("选择扩展条件结点：",pair_node.cond_leaf.content)
+            # Update self.nodes and self.traversed
+            self.nodes.pop(index) #  the set of explored but unexpanded conditions. self.nodes.remove(pair_node)
+            c = pair_node.cond_leaf.content  # 子树所扩展结点对应的条件（一个文字的set）
+
+            # Mount the action node and extend BT. T = Eapand(T,c,A(c))
+            if c!=goal:
+                sequence_structure = ControlBT(type='>')
+                sequence_structure.add_child(
+                    [copy.deepcopy(pair_node.cond_leaf), copy.deepcopy(pair_node.act_leaf)])
+                subtree.add_child([copy.deepcopy(sequence_structure)])  # subtree 是回不断变化的，它的父亲是self.bt
+                if self.verbose:
+                    print("完成扩展 a_node= %s,对应的新条件 c_attr= %s,mincost=%d" \
+                          % (cond_anc_pair.act_leaf.content.name, cond_anc_pair.cond_leaf.content,
+                             cond_anc_pair.cond_leaf.mincost))
+
+            if self.verbose:
+                print("遍历所有动作, 寻找符合条件的动作")
+            # 遍历所有动作, 寻找符合条件的动作
+            current_mincost = pair_node.cond_leaf.mincost # 当前的最短路径是多少
+
+            for i in range(0, len(actions)):
+                if not c & ((actions[i].pre | actions[i].add) - actions[i].del_set) <= set():
+                    if (c - actions[i].del_set) == c:
+                        if self.verbose:
+                            print("———— 满足条件可以扩展")
+                        c_attr = (actions[i].pre | c) - actions[i].add
+
+                        # 剪枝操作,现在的条件是以前扩展过的条件的超集
+                        valid = True
+                        for j in self.traversed:  # 剪枝操作
+                            if j <= c_attr:
+                                valid = False
+                                if self.verbose:
+                                    print("———— --被剪枝")
+                                break
+
+                        if valid:
+                            # 把符合条件的动作节点都放到列表里
+                            if self.verbose:
+                                print("———— -- %s 符合条件放入列表" % actions[i].name)
+                            c_attr_node = Leaf(type='cond', content=c_attr, mincost=current_mincost + actions[i].cost)
+                            a_attr_node = Leaf(type='act', content=actions[i], mincost=current_mincost + actions[i].cost)
+                            cond_anc_pair = CondActPair(cond_leaf=c_attr_node, act_leaf=a_attr_node)
+                            self.nodes.append(copy.deepcopy(cond_anc_pair))  # condition node list
+                            self.traversed.append(c_attr) # 重点 the set of expanded conditions
+
+        if self.verbose:
+            print("算法结束！\n")
+        return True
+
+    def print_solution(self):
+        print("========= BT ==========")  # 树的bfs遍历
+        nodes_ls = []
+        nodes_ls.append(self.bt)
+        while len(nodes_ls) != 0:
+            parnode = nodes_ls[0]
+            print("Parrent:", parnode.type)
+            for child in parnode.children:
+                if isinstance(child, Leaf):
+                    print("---- Leaf:", child.content)
+                elif isinstance(child, ControlBT):
+                    print("---- ControlBT:", child.type)
+                    nodes_ls.append(child)
+            print()
+            nodes_ls.pop(0)
+        print("========= BT ==========\n")
+
+    # 返回所有能到达目标状态的初始状态
+    def get_all_state_leafs(self):
+        state_leafs=[]
+
+        nodes_ls = []
+        nodes_ls.append(self.bt)
+        while len(nodes_ls) != 0:
+            parnode = nodes_ls[0]
+            for child in parnode.children:
+                if isinstance(child, Leaf):
+                    if child.type == "cond":
+                        state_leafs.append(child.content)
+                elif isinstance(child, ControlBT):
+                    nodes_ls.append(child)
+            nodes_ls.pop(0)
+
+        return state_leafs
+
+
+    # 树的dfs
+    def dfs_ptml(self,parnode):
+        for child in parnode.children:
+            if isinstance(child, Leaf):
+                if child.type == 'cond':
+                    self.ptml_string += "cond "
+                    c_set_str = ', '.join(map(str, child.content)) + "\n"
+                    self.ptml_string += c_set_str
+                elif child.type == 'act':
+                    self.ptml_string += 'act '+child.content.name+"\n"
+            elif isinstance(child, ControlBT):
+                if parnode.type == '?':
+                    self.ptml_string += "selector{\n"
+                    self.dfs_ptml(parnode=child)
+                elif parnode.type == '>':
+                    self.ptml_string += "sequence{\n"
+                    self.dfs_ptml( parnode=child)
+                self.ptml_string += '}\n'
+
+
+    def get_ptml(self):
+        self.ptml_string = "selector{\n"
+        self.dfs_ptml(self.bt.children[0])
+        self.ptml_string += '}\n'
+        return self.ptml_string
+
+
+    def save_ptml_file(self,file_name):
+        self.ptml_string = "selector{\n"
+        self.dfs_ptml(self.bt.children[0])
+        self.ptml_string += '}\n'
+        with open(f'./{file_name}.ptml', 'w') as file:
+            file.write(self.ptml_string)
+        return self.ptml_string
diff --git a/zoo/opt_bt_expansion/README.assets/image-20231103191141047.png b/zoo/opt_bt_expansion/README.assets/image-20231103191141047.png
new file mode 100644
index 0000000..6453647
Binary files /dev/null and b/zoo/opt_bt_expansion/README.assets/image-20231103191141047.png differ
diff --git a/zoo/opt_bt_expansion/README.md b/zoo/opt_bt_expansion/README.md
new file mode 100644
index 0000000..1ddd4a6
--- /dev/null
+++ b/zoo/opt_bt_expansion/README.md
@@ -0,0 +1,125 @@
+
+
+## 代码说明
+
+### 1. `BehaviorTree.py` 实现行为树叶子结点和非叶子结点的定义
+
+- **Leaf**：表示叶节点，可以是动作（`act`）或条件（`cond`）。
+- **ControlBT**：代表可能包含控制节点的行为树。它们可以是选择器（`?`）、序列（`>`）、动作节点（`act`）或条件节点（`cond`）。
+- 上述两个类都包含 `tick` 方法。
+
+### 2.  `OptimalBTExpansionAlgorithm.py` 实现最优行为树扩展算法
+
+![image-20231103191141047](README.assets/image-20231103191141047.png)
+
+定义行动类
+```python
+#定义行动类，行动包括前提、增加和删除影响
+class Action:
+    def __init__(self,name='anonymous action',pre=set(),add=set(),del_set=set(),cost=1):
+        self.pre=copy.deepcopy(pre)
+        self.add=copy.deepcopy(add)
+        self.del_set=copy.deepcopy(del_set)
+        self.name=name
+        self.cost=cost
+
+    def __str__(self):
+        return self.name
+```
+
+调用算法
+```python
+algo = OptBTExpAlgorithm(verbose=True)
+algo.clear()
+algo.run_algorithm(start, goal, actions) # 使用算法得到行为树在 algo.bt
+algo.print_solution() # 打印行为树 
+val, obj = algo.bt.tick(state) # 执行行为树
+algo.save_ptml_file("bt.ptml") # 保存行为树为 ptml 文件
+```
+
+### 3. **`tools.py`**  实现打印数据、行为树测试等模块
+
+使用方法
+
+```python
+print_action_data_table(goal,start,actions) # 打印所有变量
+
+# 行为树鲁棒性测试，随机生成规划问题
+# 设置生成规划问题集的超参数：文字数、解深度、迭代次数
+seed=1
+literals_num=10
+depth = 10
+iters= 10
+BTTest(seed=seed,literals_num=literals_num,depth=depth,iters=iters)
+```
+
+### 4. `example.py` 中设计规划案例 goals, start, actions
+
+```python
+def MoveBtoB ():
+    actions=[]
+    a = Action(name="Move(b,ab)") 
+    a.pre={'Free(ab)','WayClear'}  
+    a.add={'At(b,ab)'} 
+    a.del_set= {'Free(ab)','At(b,pb)'}         
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name="Move(s,ab)") 
+    a.pre={'Free(ab)'} 
+    a.add={'Free(ab)','WayClear'} 
+    a.del_set={'Free(ab)','At(s,ps)'}  
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name="Move(s,as)")
+    a.pre={'Free(as)'} 
+    a.add={'At(s,ps)','WayClear'} 
+    a.del_set={'Free(as)','At(s,ps)'} 
+    a.cost = 1
+    actions.append(a)
+
+    start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} 
+    goal= {'At(b,ab)'} 
+    return goal,start,actions
+```
+
+### 5. `opt_bt_exp_main.py` 为主函数，在此演示如何调用最优行为树扩展算法得到完全扩展最优行为树
+
+初始化的时候：传入 actions (包含 pre,add,del,cost).
+调用的时候，传入 goal 状态集合 (set类型)，返回完全最优扩展行为树的 ptml 形式 (string类型)
+
+```python
+actions=[
+    Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1)
+	…………
+]
+algo = BTOptExpInterface(actions)
+
+goal = {'At(Table,Coffee)'}
+ptml_string = algo.process(goal,start)
+print(ptml_string)
+
+```
+两种检测方法，用于检测当前状态 `start` 能否到达目标状态 `goal`
+
+```python
+# 判断初始状态能否到达目标状态
+start = {'At(Robot,Bar)', 'Holding(VacuumCup)', 'Available(Table)', 'Available(CoffeeMachine)','Available(FrontDesk)'}
+
+# 方法一：算法返回所有可能的初始状态，在里面看看有没有对应的初始状态
+right_bt = algo.find_all_leaf_states_contain_start(start)
+if not right_bt:
+    print("ERROR1: The current state cannot reach the goal state!")
+else:
+    print("Right1: The current state can reach the goal state!")
+
+# 方法二：预先跑一边行为树，看能否到达目标状态
+right_bt2 = algo.run_bt_from_start(goal,start)
+if not right_bt2:
+    print("ERROR2: The current state cannot reach the goal state!")
+else:
+    print("Right2: The current state can reach the goal state!")
+
+```
+
diff --git a/zoo/opt_bt_expansion/__init__.py b/zoo/opt_bt_expansion/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/zoo/opt_bt_expansion/examples.py b/zoo/opt_bt_expansion/examples.py
new file mode 100644
index 0000000..019af9b
--- /dev/null
+++ b/zoo/opt_bt_expansion/examples.py
@@ -0,0 +1,174 @@
+
+from zoo.opt_bt_expansion.OptimalBTExpansionAlgorithm import Action
+
+
+
+def MakeCoffee():
+    actions=[
+        Action(name='Put(Table,Coffee)', pre={'Holding(Coffee)','At(Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1),
+        Action(name='Put(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1),
+
+        Action(name='Grasp(Coffee)', pre={'NotHolding','At(Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1),
+
+        Action(name='MoveTo(Table)', pre={'Exist(Table)'}, add={'At(Table)'}, del_set={'At(FrontDesk)','At(Coffee)','At(CoffeeMachine)'}, cost=1),
+        Action(name='MoveTo(Coffee)', pre={'Exist(Coffee)'}, add={'At(Coffee)'}, del_set={'At(FrontDesk)','At(Table)','At(CoffeeMachine)'}, cost=1),
+        Action(name='MoveTo(CoffeeMachine)', pre={'Exist(CoffeeMachine)'}, add={'At(CoffeeMachine)'}, del_set={'At(FrontDesk)','At(Coffee)','At(Table)'}, cost=1),
+
+        Action(name='OpCoffeeMachine', pre={'At(CoffeeMachine)','NotHolding'}, add={'Exist(Coffee)','At(Coffee)'}, del_set=set(), cost=1),
+    ]
+
+    start = {'At(FrontDesk)','Holding(VacuumCup)','Exist(Table)','Exist(CoffeeMachine)','Exist(FrontDesk)'}
+    goal = {'At(Table,Coffee)'}
+    return goal,start,actions
+
+# 本例子中，将 VacuumCup 放到 FrontDesk，比 MoveTo(Table) 再 Put(Table,VacuumCup) 的 cost 要小
+def MakeCoffeeCost():
+    actions=[
+        Action(name='PutDown(Table,Coffee)', pre={'Holding(Coffee)','At(Robot,Table)'}, add={'At(Table,Coffee)','NotHolding'}, del_set={'Holding(Coffee)'}, cost=1),
+        Action(name='PutDown(Table,VacuumCup)', pre={'Holding(VacuumCup)','At(Robot,Table)'}, add={'At(Table,VacuumCup)','NotHolding'}, del_set={'Holding(VacuumCup)'}, cost=1),
+
+        Action(name='PickUp(Coffee)', pre={'NotHolding','At(Robot,Coffee)'}, add={'Holding(Coffee)'}, del_set={'NotHolding'}, cost=1),
+
+        Action(name='MoveTo(Table)', pre={'Available(Table)'}, add={'At(Robot,Table)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,CoffeeMachine)'}, cost=1),
+        Action(name='MoveTo(Coffee)', pre={'Available(Coffee)'}, add={'At(Robot,Coffee)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Table)','At(Robot,CoffeeMachine)'}, cost=1),
+        Action(name='MoveTo(CoffeeMachine)', pre={'Available(CoffeeMachine)'}, add={'At(Robot,CoffeeMachine)'}, del_set={'At(Robot,FrontDesk)','At(Robot,Coffee)','At(Robot,Table)'}, cost=1),
+
+        Action(name='OpCoffeeMachine', pre={'At(Robot,CoffeeMachine)','NotHolding'}, add={'Available(Coffee)','At(Robot,Coffee)'}, del_set=set(), cost=1),
+    ]
+
+    start = {'At(Robot,Bar)','Holding(VacuumCup)','Available(Table)','Available(CoffeeMachine)','Available(FrontDesk)'}
+    goal = {'At(Table,Coffee)'}
+
+    return goal,start,actions
+
+
+# test
+def Test():
+    actions=[
+        Action(name='a1', pre={6}, add={0,2,4}, del_set={1,5}, cost=1),
+        Action(name='a2', pre=set(), add={0,1}, del_set=set(), cost=1),
+        Action(name='a3', pre={1,6}, add={0,2,3,5}, del_set={1,6}, cost=1),
+        Action(name='a4', pre={0,2,3}, add={4,5}, del_set={0,6}, cost=1),
+        Action(name='a5', pre={0,1,4}, add={2,3,6}, del_set={0}, cost=1),
+    ]
+
+    start = {1,2,6}
+    goal={0,1,2,4,6}
+    return goal,start,actions
+
+# def Test():
+#     actions=[
+#         Action(name='a1', pre={2}, add={1}, del_set=set(), cost=1),
+#         Action(name='a2', pre=set(), add={1}, del_set={0,2}, cost=1),
+#         Action(name='a3', pre={1}, add=set(), del_set={0,2}, cost=1),
+#         Action(name='a4', pre=set(), add={0}, del_set=set(), cost=1),
+#         Action(name='a5', pre={1}, add={0,2}, del_set={1}, cost=1),
+#         Action(name='a6', pre={1}, add=set(), del_set={0,1,2}, cost=1),
+#         Action(name='a7', pre={1}, add={2}, del_set={0, 2}, cost=1),
+#     ]
+#
+#     start = {1,2}
+#     goal={0,1}
+#     return goal,start,actions
+
+
+# todo: 最原始的例子
+def MoveBtoB_num ():
+    actions=[]
+    a = Action(name='a1')
+    a.pre={1,4}
+    a.add={"c_goal"}
+    a.del_set={1,4}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name='a2')
+    a.pre={1,2,3}
+    a.add={"c_goal"}
+    a.del_set={1,2,3}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name='a3')
+    a.pre={1,2}
+    a.add={4}
+    a.del_set={2}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name='a4')
+    a.pre={"c_start"}
+    a.add={1,2,3}
+    a.del_set={"c_start",4}
+    a.cost = 1
+    actions.append(a)
+
+    start = {"c_start"}
+    goal={"c_goal"}
+    return goal,start,actions
+
+
+# todo: 最原始的例子
+def MoveBtoB ():
+    actions=[]
+    a = Action(name="Move(b,ab)") #'movebtob'
+    a.pre={'Free(ab)','WayClear'}  #{1,2}
+    a.add={'At(b,ab)'} #{3}
+    a.del_set= {'Free(ab)','At(b,pb)'}         #{1,4}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name="Move(s,ab)") #'moveatob'
+    a.pre={'Free(ab)'} #{1}
+    a.add={'Free(ab)','WayClear'} #{5,2}
+    a.del_set={'Free(ab)','At(s,ps)'}  #{1,6}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name="Move(s,as)") #'moveatoa'
+    a.pre={'Free(as)'} #{7}
+    a.add={'At(s,ps)','WayClear'} #{8,2}
+    a.del_set={'Free(as)','At(s,ps)'} #{7,6}
+    a.cost = 1
+    actions.append(a)
+
+    start = {'Free(ab)','Free(as)','At(b,pb)','At(s,ps)'} #{1,7,4,6}
+    goal= {'At(b,ab)'} #{3}
+    return goal,start,actions
+
+
+# 小蔡师兄论文里的例子
+def Cond2BelongsToCond3():
+    actions=[]
+    a = Action(name='a1')
+    a.pre={1,4}
+    a.add={"c_goal"}
+    a.del_set={1,4}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name='a2')
+    a.pre={1,2,3}
+    a.add={"c_goal"}
+    a.del_set={1,2,3}
+    a.cost = 100
+    actions.append(a)
+
+    a=Action(name='a3')
+    a.pre={1,2}
+    a.add={4}
+    a.del_set={2}
+    a.cost = 1
+    actions.append(a)
+
+    a=Action(name='a4')
+    a.pre={"c_start"}
+    a.add={1,2,3}
+    a.del_set={"c_start",4}
+    a.cost = 1
+    actions.append(a)
+
+    start = {"c_start"}
+    goal={"c_goal"}
+    return goal,start,actions
+
diff --git a/opt_bt_expansion/opt_bt_exp_main.py b/zoo/opt_bt_expansion/opt_bt_exp_main.py
similarity index 92%
rename from opt_bt_expansion/opt_bt_exp_main.py
rename to zoo/opt_bt_expansion/opt_bt_exp_main.py
index 5047370..87329b6 100644
--- a/opt_bt_expansion/opt_bt_exp_main.py
+++ b/zoo/opt_bt_expansion/opt_bt_exp_main.py
@@ -1,7 +1,4 @@
-from opt_bt_expansion.BehaviorTree import Leaf,ControlBT # 行为结点类：叶子结点和非叶子节点
-from opt_bt_expansion.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm,state_transition # 调用最优行为树扩展算法
-from opt_bt_expansion.tools import print_action_data_table,BTTest
-from opt_bt_expansion.examples import MoveBtoB_num,MoveBtoB,Cond2BelongsToCond3 # 导入三个例子
+from zoo.opt_bt_expansion.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm,state_transition # 调用最优行为树扩展算法
 from opt_bt_expansion.examples import *
 
 
diff --git a/zoo/opt_bt_expansion/tools.py b/zoo/opt_bt_expansion/tools.py
new file mode 100644
index 0000000..1af057d
--- /dev/null
+++ b/zoo/opt_bt_expansion/tools.py
@@ -0,0 +1,167 @@
+
+
+from tabulate import tabulate
+import numpy as np
+import random
+from zoo.opt_bt_expansion.OptimalBTExpansionAlgorithm import Action,OptBTExpAlgorithm
+import time
+
+
+def print_action_data_table(goal,start,actions):
+    data = []
+    for a in actions:
+        data.append([a.name ,a.pre ,a.add ,a.del_set ,a.cost])
+    data.append(["Goal" ,goal ," " ,"Start" ,start])
+    print(tabulate(data, headers=["Name", "Pre", "Add" ,"Del" ,"Cost"], tablefmt="fancy_grid"))  # grid plain simple github fancy_grid
+
+
+# 从状态随机生成一个行动
+def generate_from_state(act,state,num):
+    for i in range(0,num):
+        if i in state:
+            if random.random() >0.5:
+                act.pre.add(i)
+                if random.random() >0.5:
+                    act.del_set.add(i)
+                continue
+        if random.random() > 0.5:
+            act.add.add(i)
+            continue
+        if random.random() >0.5:
+            act.del_set.add(i)
+
+def print_action(act):
+    print (act.pre)
+    print(act.add)
+    print(act.del_set)
+
+
+
+#行为树测试代码
+def BTTest(seed=1,literals_num=10,depth=10,iters=10,total_count=1000):
+    print("============= BT Test ==============")
+    random.seed(seed)
+    # 设置生成规划问题集的超参数：文字数、解深度、迭代次数
+    literals_num=literals_num
+    depth = depth
+    iters= iters
+    total_tree_size = []
+    total_action_num = []
+    total_state_num = []
+    total_steps_num=[]
+    #fail_count=0
+    #danger_count=0
+    success_count =0
+    failure_count = 0
+    planning_time_total = 0.0
+    # 实验1000次
+    for count in range (total_count):
+
+        action_num = 1
+
+        # 生成一个规划问题，包括随机的状态和行动，以及目标状态
+        states = []
+        actions = []
+        start = generate_random_state(literals_num)
+        state = start
+        states.append(state)
+        #print (state)
+        for i in range (0,depth):
+            a = Action()
+            generate_from_state(a,state,literals_num)
+            if not a in actions:
+                a.name = "a"+str(action_num)
+                action_num+=1
+                actions.append(a)
+            state = state_transition(state,a)
+            if state in states:
+                pass
+            else:
+                states.append(state)
+                #print(state)
+
+        goal = states[-1]
+        state = start
+        for i in range (0,iters):
+            a = Action()
+            generate_from_state(a,state,literals_num)
+            if not a in actions:
+                a.name = "a"+str(action_num)
+                action_num+=1
+                actions.append(a)
+            state = state_transition(state,a)
+            if state in states:
+                pass
+            else:
+                states.append(state)
+            state = random.sample(states,1)[0]
+
+        # 选择测试本文算法btalgorithm，或对比算法weakalgorithm
+        algo = OptBTExpAlgorithm()
+        #algo = Weakalgorithm()
+        start_time = time.time()
+        # print_action_data_table(goal, start, list(actions))
+        if algo.run_algorithm(start, goal, actions):#运行算法，规划后行为树为algo.bt
+            total_tree_size.append( algo.bt.count_size()-1)
+            # algo.print_solution()  # 打印行为树
+        else:
+            print ("error")
+        end_time = time.time()
+        planning_time_total += (end_time-start_time)
+
+        #开始从初始状态运行行为树，测试
+        state=start
+        steps=0
+        val, obj = algo.bt.tick(state)#tick行为树，obj为所运行的行动
+        while val !='success' and val !='failure':#运行直到行为树成功或失败
+            state = state_transition(state,obj)
+            val, obj = algo.bt.tick(state)
+            if(val == 'failure'):
+                print("bt fails at step",steps)
+            steps+=1
+            if(steps>=500):#至多运行500步
+                break
+        if not goal <= state:#错误解，目标条件不在执行后状态满足
+            #print ("wrong solution",steps)
+            failure_count+=1
+
+        else:#正确解，满足目标条件
+            #print ("right solution",steps)
+            success_count+=1
+            total_steps_num.append(steps)
+        algo.clear()
+        total_action_num.append(len(actions))
+        total_state_num.append(len(states))
+
+    print ("success:",success_count,"failure:",failure_count)#算法成功和失败次数
+    print("Total Tree Size: mean=",np.mean(total_tree_size), "std=",np.std(total_tree_size, ddof=1))#1000次测试树大小
+    print ("Total Steps Num: mean=",np.mean(total_steps_num),"std=",np.std(total_steps_num,ddof=1))
+    print ("Average number of states:",np.mean(total_state_num))#1000次问题的平均状态数
+    print ("Average number of actions",np.mean(total_action_num))#1000次问题的平均行动数
+    print("Planning Time Total:",planning_time_total,planning_time_total/1000.0)
+    print("============ End BT Test ===========")
+
+    # xiao cai
+    # success: 1000 failure: 0
+    # Total Tree Size: mean= 35.303 std= 29.71336526001515
+    # Total Steps Num: mean= 1.898 std= 0.970844240101644
+    # Average number of states: 20.678
+    # Average number of actions 20.0
+    # Planning Time Total: 0.6280641555786133 0.0006280641555786133
+
+    # our start
+    # success: 1000 failure: 0
+    # Total Tree Size: mean= 17.945 std= 12.841997192488865
+    # Total Steps Num: mean= 1.785 std= 0.8120556843187752
+    # Average number of states: 20.678
+    # Average number of actions 20.0
+    # Planning Time Total: 1.4748523235321045 0.0014748523235321046
+
+    # our
+    # success: 1000 failure: 0
+    # Total Tree Size: mean= 48.764 std= 20.503626574406358
+    # Total Steps Num: mean= 1.785 std= 0.8120556843187752
+    # Average number of states: 20.678
+    # Average number of actions 20.0
+    # Planning Time Total: 3.3271877765655518 0.0033271877765655516
+