diff --git a/behavior_tree/main.py b/behavior_tree/main.py
index fe33fcf..2896307 100644
--- a/behavior_tree/main.py
+++ b/behavior_tree/main.py
@@ -49,7 +49,6 @@ def LoadSubTree(path: str) -> py_trees.behaviour.Behaviour:
 
 if '__name__' == '__main__':
     btree = LoadMainTree()
-    print('jjjj')
 
 
     def print_tree(tree):
diff --git a/ptml/ptml.g4 b/ptml/ptml.g4
index e148145..38a66cf 100644
--- a/ptml/ptml.g4
+++ b/ptml/ptml.g4
@@ -1,3 +1,6 @@
 grammar ptml;
 
-tree : t
\ No newline at end of file
+tree    : internal_node Names+ | internal_node+ Names+
+        ;
+internal_node : 'sequence' | 'selector' | 'parallel' | 'decorator';
+Names : [a-zA-Z_][a-zA-Z_0-9]* ;
\ No newline at end of file
diff --git a/ptml/ptml.interp b/ptml/ptml.interp
new file mode 100644
index 0000000..590fcee
--- /dev/null
+++ b/ptml/ptml.interp
@@ -0,0 +1,23 @@
+token literal names:
+null
+'sequence'
+'selector'
+'parallel'
+'decorator'
+null
+
+token symbolic names:
+null
+null
+null
+null
+null
+Names
+
+rule names:
+tree
+internal_node
+
+
+atn:
+[4, 1, 5, 25, 2, 0, 7, 0, 2, 1, 7, 1, 1, 0, 1, 0, 4, 0, 7, 8, 0, 11, 0, 12, 0, 8, 1, 0, 4, 0, 12, 8, 0, 11, 0, 12, 0, 13, 1, 0, 4, 0, 17, 8, 0, 11, 0, 12, 0, 18, 3, 0, 21, 8, 0, 1, 1, 1, 1, 1, 1, 0, 0, 2, 0, 2, 0, 1, 1, 0, 1, 4, 26, 0, 20, 1, 0, 0, 0, 2, 22, 1, 0, 0, 0, 4, 6, 3, 2, 1, 0, 5, 7, 5, 5, 0, 0, 6, 5, 1, 0, 0, 0, 7, 8, 1, 0, 0, 0, 8, 6, 1, 0, 0, 0, 8, 9, 1, 0, 0, 0, 9, 21, 1, 0, 0, 0, 10, 12, 3, 2, 1, 0, 11, 10, 1, 0, 0, 0, 12, 13, 1, 0, 0, 0, 13, 11, 1, 0, 0, 0, 13, 14, 1, 0, 0, 0, 14, 16, 1, 0, 0, 0, 15, 17, 5, 5, 0, 0, 16, 15, 1, 0, 0, 0, 17, 18, 1, 0, 0, 0, 18, 16, 1, 0, 0, 0, 18, 19, 1, 0, 0, 0, 19, 21, 1, 0, 0, 0, 20, 4, 1, 0, 0, 0, 20, 11, 1, 0, 0, 0, 21, 1, 1, 0, 0, 0, 22, 23, 7, 0, 0, 0, 23, 3, 1, 0, 0, 0, 4, 8, 13, 18, 20]
\ No newline at end of file
diff --git a/ptml/ptml.tokens b/ptml/ptml.tokens
new file mode 100644
index 0000000..897809e
--- /dev/null
+++ b/ptml/ptml.tokens
@@ -0,0 +1,9 @@
+T__0=1
+T__1=2
+T__2=3
+T__3=4
+Names=5
+'sequence'=1
+'selector'=2
+'parallel'=3
+'decorator'=4
diff --git a/ptml/ptmlLexer.interp b/ptml/ptmlLexer.interp
new file mode 100644
index 0000000..a9e4a05
--- /dev/null
+++ b/ptml/ptmlLexer.interp
@@ -0,0 +1,32 @@
+token literal names:
+null
+'sequence'
+'selector'
+'parallel'
+'decorator'
+null
+
+token symbolic names:
+null
+null
+null
+null
+null
+Names
+
+rule names:
+T__0
+T__1
+T__2
+T__3
+Names
+
+channel names:
+DEFAULT_TOKEN_CHANNEL
+HIDDEN
+
+mode names:
+DEFAULT_MODE
+
+atn:
+[4, 0, 5, 55, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 1, 0, 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, 3, 1, 4, 1, 4, 5, 4, 51, 8, 4, 10, 4, 12, 4, 54, 9, 4, 0, 0, 5, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 1, 0, 2, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 55, 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, 1, 11, 1, 0, 0, 0, 3, 20, 1, 0, 0, 0, 5, 29, 1, 0, 0, 0, 7, 38, 1, 0, 0, 0, 9, 48, 1, 0, 0, 0, 11, 12, 5, 115, 0, 0, 12, 13, 5, 101, 0, 0, 13, 14, 5, 113, 0, 0, 14, 15, 5, 117, 0, 0, 15, 16, 5, 101, 0, 0, 16, 17, 5, 110, 0, 0, 17, 18, 5, 99, 0, 0, 18, 19, 5, 101, 0, 0, 19, 2, 1, 0, 0, 0, 20, 21, 5, 115, 0, 0, 21, 22, 5, 101, 0, 0, 22, 23, 5, 108, 0, 0, 23, 24, 5, 101, 0, 0, 24, 25, 5, 99, 0, 0, 25, 26, 5, 116, 0, 0, 26, 27, 5, 111, 0, 0, 27, 28, 5, 114, 0, 0, 28, 4, 1, 0, 0, 0, 29, 30, 5, 112, 0, 0, 30, 31, 5, 97, 0, 0, 31, 32, 5, 114, 0, 0, 32, 33, 5, 97, 0, 0, 33, 34, 5, 108, 0, 0, 34, 35, 5, 108, 0, 0, 35, 36, 5, 101, 0, 0, 36, 37, 5, 108, 0, 0, 37, 6, 1, 0, 0, 0, 38, 39, 5, 100, 0, 0, 39, 40, 5, 101, 0, 0, 40, 41, 5, 99, 0, 0, 41, 42, 5, 111, 0, 0, 42, 43, 5, 114, 0, 0, 43, 44, 5, 97, 0, 0, 44, 45, 5, 116, 0, 0, 45, 46, 5, 111, 0, 0, 46, 47, 5, 114, 0, 0, 47, 8, 1, 0, 0, 0, 48, 52, 7, 0, 0, 0, 49, 51, 7, 1, 0, 0, 50, 49, 1, 0, 0, 0, 51, 54, 1, 0, 0, 0, 52, 50, 1, 0, 0, 0, 52, 53, 1, 0, 0, 0, 53, 10, 1, 0, 0, 0, 54, 52, 1, 0, 0, 0, 2, 0, 52, 0]
\ No newline at end of file
diff --git a/ptml/ptmlLexer.py b/ptml/ptmlLexer.py
new file mode 100644
index 0000000..e51fb6a
--- /dev/null
+++ b/ptml/ptmlLexer.py
@@ -0,0 +1,66 @@
+# Generated from ./ptml.g4 by ANTLR 4.13.0
+from antlr4 import *
+from io import StringIO
+import sys
+if sys.version_info[1] > 5:
+    from typing import TextIO
+else:
+    from typing.io import TextIO
+
+
+def serializedATN():
+    return [
+        4,0,5,55,6,-1,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,1,0,1,0,1,
+        0,1,0,1,0,1,0,1,0,1,0,1,0,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,
+        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,
+        3,1,3,1,3,1,4,1,4,5,4,51,8,4,10,4,12,4,54,9,4,0,0,5,1,1,3,2,5,3,
+        7,4,9,5,1,0,2,3,0,65,90,95,95,97,122,4,0,48,57,65,90,95,95,97,122,
+        55,0,1,1,0,0,0,0,3,1,0,0,0,0,5,1,0,0,0,0,7,1,0,0,0,0,9,1,0,0,0,1,
+        11,1,0,0,0,3,20,1,0,0,0,5,29,1,0,0,0,7,38,1,0,0,0,9,48,1,0,0,0,11,
+        12,5,115,0,0,12,13,5,101,0,0,13,14,5,113,0,0,14,15,5,117,0,0,15,
+        16,5,101,0,0,16,17,5,110,0,0,17,18,5,99,0,0,18,19,5,101,0,0,19,2,
+        1,0,0,0,20,21,5,115,0,0,21,22,5,101,0,0,22,23,5,108,0,0,23,24,5,
+        101,0,0,24,25,5,99,0,0,25,26,5,116,0,0,26,27,5,111,0,0,27,28,5,114,
+        0,0,28,4,1,0,0,0,29,30,5,112,0,0,30,31,5,97,0,0,31,32,5,114,0,0,
+        32,33,5,97,0,0,33,34,5,108,0,0,34,35,5,108,0,0,35,36,5,101,0,0,36,
+        37,5,108,0,0,37,6,1,0,0,0,38,39,5,100,0,0,39,40,5,101,0,0,40,41,
+        5,99,0,0,41,42,5,111,0,0,42,43,5,114,0,0,43,44,5,97,0,0,44,45,5,
+        116,0,0,45,46,5,111,0,0,46,47,5,114,0,0,47,8,1,0,0,0,48,52,7,0,0,
+        0,49,51,7,1,0,0,50,49,1,0,0,0,51,54,1,0,0,0,52,50,1,0,0,0,52,53,
+        1,0,0,0,53,10,1,0,0,0,54,52,1,0,0,0,2,0,52,0
+    ]
+
+class ptmlLexer(Lexer):
+
+    atn = ATNDeserializer().deserialize(serializedATN())
+
+    decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
+
+    T__0 = 1
+    T__1 = 2
+    T__2 = 3
+    T__3 = 4
+    Names = 5
+
+    channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ]
+
+    modeNames = [ "DEFAULT_MODE" ]
+
+    literalNames = [ "<INVALID>",
+            "'sequence'", "'selector'", "'parallel'", "'decorator'" ]
+
+    symbolicNames = [ "<INVALID>",
+            "Names" ]
+
+    ruleNames = [ "T__0", "T__1", "T__2", "T__3", "Names" ]
+
+    grammarFileName = "ptml.g4"
+
+    def __init__(self, input=None, output:TextIO = sys.stdout):
+        super().__init__(input, output)
+        self.checkVersion("4.13.0")
+        self._interp = LexerATNSimulator(self, self.atn, self.decisionsToDFA, PredictionContextCache())
+        self._actions = None
+        self._predicates = None
+
+
diff --git a/ptml/ptmlLexer.tokens b/ptml/ptmlLexer.tokens
new file mode 100644
index 0000000..897809e
--- /dev/null
+++ b/ptml/ptmlLexer.tokens
@@ -0,0 +1,9 @@
+T__0=1
+T__1=2
+T__2=3
+T__3=4
+Names=5
+'sequence'=1
+'selector'=2
+'parallel'=3
+'decorator'=4
diff --git a/ptml/ptmlListener.py b/ptml/ptmlListener.py
new file mode 100644
index 0000000..16530b7
--- /dev/null
+++ b/ptml/ptmlListener.py
@@ -0,0 +1,30 @@
+# Generated from ./ptml.g4 by ANTLR 4.13.0
+from antlr4 import *
+if "." in __name__:
+    from .ptmlParser import ptmlParser
+else:
+    from ptmlParser import ptmlParser
+
+# This class defines a complete listener for a parse tree produced by ptmlParser.
+class ptmlListener(ParseTreeListener):
+
+    # Enter a parse tree produced by ptmlParser#tree.
+    def enterTree(self, ctx:ptmlParser.TreeContext):
+        pass
+
+    # Exit a parse tree produced by ptmlParser#tree.
+    def exitTree(self, ctx:ptmlParser.TreeContext):
+        pass
+
+
+    # Enter a parse tree produced by ptmlParser#internal_node.
+    def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
+        pass
+
+    # Exit a parse tree produced by ptmlParser#internal_node.
+    def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
+        pass
+
+
+
+del ptmlParser
\ No newline at end of file
diff --git a/ptml/ptmlParser.py b/ptml/ptmlParser.py
new file mode 100644
index 0000000..361b484
--- /dev/null
+++ b/ptml/ptmlParser.py
@@ -0,0 +1,206 @@
+# Generated from ./ptml.g4 by ANTLR 4.13.0
+# encoding: utf-8
+from antlr4 import *
+from io import StringIO
+import sys
+if sys.version_info[1] > 5:
+	from typing import TextIO
+else:
+	from typing.io import TextIO
+
+def serializedATN():
+    return [
+        4,1,5,25,2,0,7,0,2,1,7,1,1,0,1,0,4,0,7,8,0,11,0,12,0,8,1,0,4,0,12,
+        8,0,11,0,12,0,13,1,0,4,0,17,8,0,11,0,12,0,18,3,0,21,8,0,1,1,1,1,
+        1,1,0,0,2,0,2,0,1,1,0,1,4,26,0,20,1,0,0,0,2,22,1,0,0,0,4,6,3,2,1,
+        0,5,7,5,5,0,0,6,5,1,0,0,0,7,8,1,0,0,0,8,6,1,0,0,0,8,9,1,0,0,0,9,
+        21,1,0,0,0,10,12,3,2,1,0,11,10,1,0,0,0,12,13,1,0,0,0,13,11,1,0,0,
+        0,13,14,1,0,0,0,14,16,1,0,0,0,15,17,5,5,0,0,16,15,1,0,0,0,17,18,
+        1,0,0,0,18,16,1,0,0,0,18,19,1,0,0,0,19,21,1,0,0,0,20,4,1,0,0,0,20,
+        11,1,0,0,0,21,1,1,0,0,0,22,23,7,0,0,0,23,3,1,0,0,0,4,8,13,18,20
+    ]
+
+class ptmlParser ( Parser ):
+
+    grammarFileName = "ptml.g4"
+
+    atn = ATNDeserializer().deserialize(serializedATN())
+
+    decisionsToDFA = [ DFA(ds, i) for i, ds in enumerate(atn.decisionToState) ]
+
+    sharedContextCache = PredictionContextCache()
+
+    literalNames = [ "<INVALID>", "'sequence'", "'selector'", "'parallel'", 
+                     "'decorator'" ]
+
+    symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
+                      "<INVALID>", "Names" ]
+
+    RULE_tree = 0
+    RULE_internal_node = 1
+
+    ruleNames =  [ "tree", "internal_node" ]
+
+    EOF = Token.EOF
+    T__0=1
+    T__1=2
+    T__2=3
+    T__3=4
+    Names=5
+
+    def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
+        super().__init__(input, output)
+        self.checkVersion("4.13.0")
+        self._interp = ParserATNSimulator(self, self.atn, self.decisionsToDFA, self.sharedContextCache)
+        self._predicates = None
+
+
+
+
+    class TreeContext(ParserRuleContext):
+        __slots__ = 'parser'
+
+        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+            super().__init__(parent, invokingState)
+            self.parser = parser
+
+        def internal_node(self, i:int=None):
+            if i is None:
+                return self.getTypedRuleContexts(ptmlParser.Internal_nodeContext)
+            else:
+                return self.getTypedRuleContext(ptmlParser.Internal_nodeContext,i)
+
+
+        def Names(self, i:int=None):
+            if i is None:
+                return self.getTokens(ptmlParser.Names)
+            else:
+                return self.getToken(ptmlParser.Names, i)
+
+        def getRuleIndex(self):
+            return ptmlParser.RULE_tree
+
+        def enterRule(self, listener:ParseTreeListener):
+            if hasattr( listener, "enterTree" ):
+                listener.enterTree(self)
+
+        def exitRule(self, listener:ParseTreeListener):
+            if hasattr( listener, "exitTree" ):
+                listener.exitTree(self)
+
+
+
+
+    def tree(self):
+
+        localctx = ptmlParser.TreeContext(self, self._ctx, self.state)
+        self.enterRule(localctx, 0, self.RULE_tree)
+        self._la = 0 # Token type
+        try:
+            self.state = 20
+            self._errHandler.sync(self)
+            la_ = self._interp.adaptivePredict(self._input,3,self._ctx)
+            if la_ == 1:
+                self.enterOuterAlt(localctx, 1)
+                self.state = 4
+                self.internal_node()
+                self.state = 6 
+                self._errHandler.sync(self)
+                _la = self._input.LA(1)
+                while True:
+                    self.state = 5
+                    self.match(ptmlParser.Names)
+                    self.state = 8 
+                    self._errHandler.sync(self)
+                    _la = self._input.LA(1)
+                    if not (_la==5):
+                        break
+
+                pass
+
+            elif la_ == 2:
+                self.enterOuterAlt(localctx, 2)
+                self.state = 11 
+                self._errHandler.sync(self)
+                _la = self._input.LA(1)
+                while True:
+                    self.state = 10
+                    self.internal_node()
+                    self.state = 13 
+                    self._errHandler.sync(self)
+                    _la = self._input.LA(1)
+                    if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 30) != 0)):
+                        break
+
+                self.state = 16 
+                self._errHandler.sync(self)
+                _la = self._input.LA(1)
+                while True:
+                    self.state = 15
+                    self.match(ptmlParser.Names)
+                    self.state = 18 
+                    self._errHandler.sync(self)
+                    _la = self._input.LA(1)
+                    if not (_la==5):
+                        break
+
+                pass
+
+
+        except RecognitionException as re:
+            localctx.exception = re
+            self._errHandler.reportError(self, re)
+            self._errHandler.recover(self, re)
+        finally:
+            self.exitRule()
+        return localctx
+
+
+    class Internal_nodeContext(ParserRuleContext):
+        __slots__ = 'parser'
+
+        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
+            super().__init__(parent, invokingState)
+            self.parser = parser
+
+
+        def getRuleIndex(self):
+            return ptmlParser.RULE_internal_node
+
+        def enterRule(self, listener:ParseTreeListener):
+            if hasattr( listener, "enterInternal_node" ):
+                listener.enterInternal_node(self)
+
+        def exitRule(self, listener:ParseTreeListener):
+            if hasattr( listener, "exitInternal_node" ):
+                listener.exitInternal_node(self)
+
+
+
+
+    def internal_node(self):
+
+        localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state)
+        self.enterRule(localctx, 2, self.RULE_internal_node)
+        self._la = 0 # Token type
+        try:
+            self.enterOuterAlt(localctx, 1)
+            self.state = 22
+            _la = self._input.LA(1)
+            if not((((_la) & ~0x3f) == 0 and ((1 << _la) & 30) != 0)):
+                self._errHandler.recoverInline(self)
+            else:
+                self._errHandler.reportMatch(self)
+                self.consume()
+        except RecognitionException as re:
+            localctx.exception = re
+            self._errHandler.reportError(self, re)
+            self._errHandler.recover(self, re)
+        finally:
+            self.exitRule()
+        return localctx
+
+
+
+
+