diff --git a/robowaiter/behavior_tree/ptml/ptml.g4 b/robowaiter/behavior_tree/ptml/ptml.g4
index 8e2db82..ad032f4 100644
--- a/robowaiter/behavior_tree/ptml/ptml.g4
+++ b/robowaiter/behavior_tree/ptml/ptml.g4
@@ -4,7 +4,7 @@ root            : tree+ EOF;
 
 tree    		: internal_node '{' (action_sign|tree)* '}' ;
 internal_node   : 'sequence' | 'selector' | 'parallel' Integer ;
-action_sign     : 'not'? ('act'|'cond') String '(' action_parm? ')';
+action_sign     : ('act'|'cond') 'Not'? String '(' action_parm? ')';
 action_parm     : (Integer|Float|boolean|String) (',' (Integer|Float|boolean|String))* ;
 // var_decls		: var_type Names ;
 // var_type		: 'int' | 'float' | 'bool' | 'string' ;
diff --git a/robowaiter/behavior_tree/ptml/ptml.interp b/robowaiter/behavior_tree/ptml/ptml.interp
index 8615e1d..7ac2931 100644
--- a/robowaiter/behavior_tree/ptml/ptml.interp
+++ b/robowaiter/behavior_tree/ptml/ptml.interp
@@ -5,9 +5,9 @@ null
 'sequence'
 'selector'
 'parallel'
-'not'
 'act'
 'cond'
+'Not'
 '('
 ')'
 ','
@@ -50,4 +50,4 @@ boolean
 
 
 atn:
-[4, 1, 18, 68, 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, 5, 1, 24, 8, 1, 10, 1, 12, 1, 27, 9, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 35, 8, 2, 1, 3, 3, 3, 38, 8, 3, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 44, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 52, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 59, 8, 4, 5, 4, 61, 8, 4, 10, 4, 12, 4, 64, 9, 4, 1, 5, 1, 5, 1, 5, 0, 0, 6, 0, 2, 4, 6, 8, 10, 0, 2, 1, 0, 7, 8, 1, 0, 12, 13, 75, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 34, 1, 0, 0, 0, 6, 37, 1, 0, 0, 0, 8, 51, 1, 0, 0, 0, 10, 65, 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, 25, 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, 27, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 28, 1, 0, 0, 0, 27, 25, 1, 0, 0, 0, 28, 29, 5, 2, 0, 0, 29, 3, 1, 0, 0, 0, 30, 35, 5, 3, 0, 0, 31, 35, 5, 4, 0, 0, 32, 33, 5, 5, 0, 0, 33, 35, 5, 15, 0, 0, 34, 30, 1, 0, 0, 0, 34, 31, 1, 0, 0, 0, 34, 32, 1, 0, 0, 0, 35, 5, 1, 0, 0, 0, 36, 38, 5, 6, 0, 0, 37, 36, 1, 0, 0, 0, 37, 38, 1, 0, 0, 0, 38, 39, 1, 0, 0, 0, 39, 40, 7, 0, 0, 0, 40, 41, 5, 14, 0, 0, 41, 43, 5, 9, 0, 0, 42, 44, 3, 8, 4, 0, 43, 42, 1, 0, 0, 0, 43, 44, 1, 0, 0, 0, 44, 45, 1, 0, 0, 0, 45, 46, 5, 10, 0, 0, 46, 7, 1, 0, 0, 0, 47, 52, 5, 15, 0, 0, 48, 52, 5, 16, 0, 0, 49, 52, 3, 10, 5, 0, 50, 52, 5, 14, 0, 0, 51, 47, 1, 0, 0, 0, 51, 48, 1, 0, 0, 0, 51, 49, 1, 0, 0, 0, 51, 50, 1, 0, 0, 0, 52, 62, 1, 0, 0, 0, 53, 58, 5, 11, 0, 0, 54, 59, 5, 15, 0, 0, 55, 59, 5, 16, 0, 0, 56, 59, 3, 10, 5, 0, 57, 59, 5, 14, 0, 0, 58, 54, 1, 0, 0, 0, 58, 55, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 58, 57, 1, 0, 0, 0, 59, 61, 1, 0, 0, 0, 60, 53, 1, 0, 0, 0, 61, 64, 1, 0, 0, 0, 62, 60, 1, 0, 0, 0, 62, 63, 1, 0, 0, 0, 63, 9, 1, 0, 0, 0, 64, 62, 1, 0, 0, 0, 65, 66, 7, 1, 0, 0, 66, 11, 1, 0, 0, 0, 9, 15, 23, 25, 34, 37, 43, 51, 58, 62]
\ No newline at end of file
+[4, 1, 18, 68, 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, 5, 1, 24, 8, 1, 10, 1, 12, 1, 27, 9, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 35, 8, 2, 1, 3, 1, 3, 3, 3, 39, 8, 3, 1, 3, 1, 3, 1, 3, 3, 3, 44, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 52, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 59, 8, 4, 5, 4, 61, 8, 4, 10, 4, 12, 4, 64, 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, 12, 13, 75, 0, 13, 1, 0, 0, 0, 2, 19, 1, 0, 0, 0, 4, 34, 1, 0, 0, 0, 6, 36, 1, 0, 0, 0, 8, 51, 1, 0, 0, 0, 10, 65, 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, 25, 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, 27, 1, 0, 0, 0, 25, 23, 1, 0, 0, 0, 25, 26, 1, 0, 0, 0, 26, 28, 1, 0, 0, 0, 27, 25, 1, 0, 0, 0, 28, 29, 5, 2, 0, 0, 29, 3, 1, 0, 0, 0, 30, 35, 5, 3, 0, 0, 31, 35, 5, 4, 0, 0, 32, 33, 5, 5, 0, 0, 33, 35, 5, 15, 0, 0, 34, 30, 1, 0, 0, 0, 34, 31, 1, 0, 0, 0, 34, 32, 1, 0, 0, 0, 35, 5, 1, 0, 0, 0, 36, 38, 7, 0, 0, 0, 37, 39, 5, 8, 0, 0, 38, 37, 1, 0, 0, 0, 38, 39, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 5, 14, 0, 0, 41, 43, 5, 9, 0, 0, 42, 44, 3, 8, 4, 0, 43, 42, 1, 0, 0, 0, 43, 44, 1, 0, 0, 0, 44, 45, 1, 0, 0, 0, 45, 46, 5, 10, 0, 0, 46, 7, 1, 0, 0, 0, 47, 52, 5, 15, 0, 0, 48, 52, 5, 16, 0, 0, 49, 52, 3, 10, 5, 0, 50, 52, 5, 14, 0, 0, 51, 47, 1, 0, 0, 0, 51, 48, 1, 0, 0, 0, 51, 49, 1, 0, 0, 0, 51, 50, 1, 0, 0, 0, 52, 62, 1, 0, 0, 0, 53, 58, 5, 11, 0, 0, 54, 59, 5, 15, 0, 0, 55, 59, 5, 16, 0, 0, 56, 59, 3, 10, 5, 0, 57, 59, 5, 14, 0, 0, 58, 54, 1, 0, 0, 0, 58, 55, 1, 0, 0, 0, 58, 56, 1, 0, 0, 0, 58, 57, 1, 0, 0, 0, 59, 61, 1, 0, 0, 0, 60, 53, 1, 0, 0, 0, 61, 64, 1, 0, 0, 0, 62, 60, 1, 0, 0, 0, 62, 63, 1, 0, 0, 0, 63, 9, 1, 0, 0, 0, 64, 62, 1, 0, 0, 0, 65, 66, 7, 1, 0, 0, 66, 11, 1, 0, 0, 0, 9, 15, 23, 25, 34, 38, 43, 51, 58, 62]
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/ptml/ptml.tokens b/robowaiter/behavior_tree/ptml/ptml.tokens
index e6d0e71..e4add52 100644
--- a/robowaiter/behavior_tree/ptml/ptml.tokens
+++ b/robowaiter/behavior_tree/ptml/ptml.tokens
@@ -21,9 +21,9 @@ WS=18
 'sequence'=3
 'selector'=4
 'parallel'=5
-'not'=6
-'act'=7
-'cond'=8
+'act'=6
+'cond'=7
+'Not'=8
 '('=9
 ')'=10
 ','=11
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.interp b/robowaiter/behavior_tree/ptml/ptmlLexer.interp
index 983d4a8..ca3daac 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.interp
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.interp
@@ -5,9 +5,9 @@ null
 'sequence'
 'selector'
 'parallel'
-'not'
 'act'
 'cond'
+'Not'
 '('
 ')'
 ','
@@ -68,4 +68,4 @@ mode names:
 DEFAULT_MODE
 
 atn:
-[4, 0, 18, 161, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 2, 17, 7, 17, 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, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 7, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 1, 12, 1, 12, 1, 12, 1, 12, 1, 13, 1, 13, 5, 13, 101, 8, 13, 10, 13, 12, 13, 104, 9, 13, 1, 14, 3, 14, 107, 8, 14, 1, 14, 1, 14, 5, 14, 111, 8, 14, 10, 14, 12, 14, 114, 9, 14, 1, 14, 3, 14, 117, 8, 14, 1, 15, 4, 15, 120, 8, 15, 11, 15, 12, 15, 121, 1, 15, 1, 15, 5, 15, 126, 8, 15, 10, 15, 12, 15, 129, 9, 15, 1, 15, 1, 15, 4, 15, 133, 8, 15, 11, 15, 12, 15, 134, 3, 15, 137, 8, 15, 1, 16, 1, 16, 1, 16, 1, 16, 5, 16, 143, 8, 16, 10, 16, 12, 16, 146, 9, 16, 1, 16, 3, 16, 149, 8, 16, 1, 16, 1, 16, 1, 16, 1, 16, 1, 17, 4, 17, 156, 8, 17, 11, 17, 12, 17, 157, 1, 17, 1, 17, 1, 144, 0, 18, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 35, 18, 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, 171, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 0, 35, 1, 0, 0, 0, 1, 37, 1, 0, 0, 0, 3, 39, 1, 0, 0, 0, 5, 41, 1, 0, 0, 0, 7, 50, 1, 0, 0, 0, 9, 59, 1, 0, 0, 0, 11, 68, 1, 0, 0, 0, 13, 72, 1, 0, 0, 0, 15, 76, 1, 0, 0, 0, 17, 81, 1, 0, 0, 0, 19, 83, 1, 0, 0, 0, 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\ No newline at end of file
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16, 1, 16, 1, 16, 5, 16, 143, 8, 16, 10, 16, 12, 16, 146, 9, 16, 1, 16, 3, 16, 149, 8, 16, 1, 16, 1, 16, 1, 16, 1, 16, 1, 17, 4, 17, 156, 8, 17, 11, 17, 12, 17, 157, 1, 17, 1, 17, 1, 144, 0, 18, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 35, 18, 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, 171, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 0, 35, 1, 0, 0, 0, 1, 37, 1, 0, 0, 0, 3, 39, 1, 0, 0, 0, 5, 41, 1, 0, 0, 0, 7, 50, 1, 0, 0, 0, 9, 59, 1, 0, 0, 0, 11, 68, 1, 0, 0, 0, 13, 72, 1, 0, 0, 0, 15, 77, 1, 0, 0, 0, 17, 81, 1, 0, 0, 0, 19, 83, 1, 0, 0, 0, 21, 85, 1, 0, 0, 0, 23, 87, 1, 0, 0, 0, 25, 92, 1, 0, 0, 0, 27, 98, 1, 0, 0, 0, 29, 116, 1, 0, 0, 0, 31, 136, 1, 0, 0, 0, 33, 138, 1, 0, 0, 0, 35, 155, 1, 0, 0, 0, 37, 38, 5, 123, 0, 0, 38, 2, 1, 0, 0, 0, 39, 40, 5, 125, 0, 0, 40, 4, 1, 0, 0, 0, 41, 42, 5, 115, 0, 0, 42, 43, 5, 101, 0, 0, 43, 44, 5, 113, 0, 0, 44, 45, 5, 117, 0, 0, 45, 46, 5, 101, 0, 0, 46, 47, 5, 110, 0, 0, 47, 48, 5, 99, 0, 0, 48, 49, 5, 101, 0, 0, 49, 6, 1, 0, 0, 0, 50, 51, 5, 115, 0, 0, 51, 52, 5, 101, 0, 0, 52, 53, 5, 108, 0, 0, 53, 54, 5, 101, 0, 0, 54, 55, 5, 99, 0, 0, 55, 56, 5, 116, 0, 0, 56, 57, 5, 111, 0, 0, 57, 58, 5, 114, 0, 0, 58, 8, 1, 0, 0, 0, 59, 60, 5, 112, 0, 0, 60, 61, 5, 97, 0, 0, 61, 62, 5, 114, 0, 0, 62, 63, 5, 97, 0, 0, 63, 64, 5, 108, 0, 0, 64, 65, 5, 108, 0, 0, 65, 66, 5, 101, 0, 0, 66, 67, 5, 108, 0, 0, 67, 10, 1, 0, 0, 0, 68, 69, 5, 97, 0, 0, 69, 70, 5, 99, 0, 0, 70, 71, 5, 116, 0, 0, 71, 12, 1, 0, 0, 0, 72, 73, 5, 99, 0, 0, 73, 74, 5, 111, 0, 0, 74, 75, 5, 110, 0, 0, 75, 76, 5, 100, 0, 0, 76, 14, 1, 0, 0, 0, 77, 78, 5, 78, 0, 0, 78, 79, 5, 111, 0, 0, 79, 80, 5, 116, 0, 0, 80, 16, 1, 0, 0, 0, 81, 82, 5, 40, 0, 0, 82, 18, 1, 0, 0, 0, 83, 84, 5, 41, 0, 0, 84, 20, 1, 0, 0, 0, 85, 86, 5, 44, 0, 0, 86, 22, 1, 0, 0, 0, 87, 88, 5, 84, 0, 0, 88, 89, 5, 114, 0, 0, 89, 90, 5, 117, 0, 0, 90, 91, 5, 101, 0, 0, 91, 24, 1, 0, 0, 0, 92, 93, 5, 70, 0, 0, 93, 94, 5, 97, 0, 0, 94, 95, 5, 108, 0, 0, 95, 96, 5, 115, 0, 0, 96, 97, 5, 101, 0, 0, 97, 26, 1, 0, 0, 0, 98, 102, 7, 0, 0, 0, 99, 101, 7, 1, 0, 0, 100, 99, 1, 0, 0, 0, 101, 104, 1, 0, 0, 0, 102, 100, 1, 0, 0, 0, 102, 103, 1, 0, 0, 0, 103, 28, 1, 0, 0, 0, 104, 102, 1, 0, 0, 0, 105, 107, 5, 45, 0, 0, 106, 105, 1, 0, 0, 0, 106, 107, 1, 0, 0, 0, 107, 108, 1, 0, 0, 0, 108, 112, 7, 2, 0, 0, 109, 111, 7, 3, 0, 0, 110, 109, 1, 0, 0, 0, 111, 114, 1, 0, 0, 0, 112, 110, 1, 0, 0, 0, 112, 113, 1, 0, 0, 0, 113, 117, 1, 0, 0, 0, 114, 112, 1, 0, 0, 0, 115, 117, 5, 48, 0, 0, 116, 106, 1, 0, 0, 0, 116, 115, 1, 0, 0, 0, 117, 30, 1, 0, 0, 0, 118, 120, 7, 3, 0, 0, 119, 118, 1, 0, 0, 0, 120, 121, 1, 0, 0, 0, 121, 119, 1, 0, 0, 0, 121, 122, 1, 0, 0, 0, 122, 123, 1, 0, 0, 0, 123, 127, 5, 46, 0, 0, 124, 126, 7, 3, 0, 0, 125, 124, 1, 0, 0, 0, 126, 129, 1, 0, 0, 0, 127, 125, 1, 0, 0, 0, 127, 128, 1, 0, 0, 0, 128, 137, 1, 0, 0, 0, 129, 127, 1, 0, 0, 0, 130, 132, 5, 46, 0, 0, 131, 133, 7, 3, 0, 0, 132, 131, 1, 0, 0, 0, 133, 134, 1, 0, 0, 0, 134, 132, 1, 0, 0, 0, 134, 135, 1, 0, 0, 0, 135, 137, 1, 0, 0, 0, 136, 119, 1, 0, 0, 0, 136, 130, 1, 0, 0, 0, 137, 32, 1, 0, 0, 0, 138, 139, 5, 47, 0, 0, 139, 140, 5, 47, 0, 0, 140, 144, 1, 0, 0, 0, 141, 143, 9, 0, 0, 0, 142, 141, 1, 0, 0, 0, 143, 146, 1, 0, 0, 0, 144, 145, 1, 0, 0, 0, 144, 142, 1, 0, 0, 0, 145, 148, 1, 0, 0, 0, 146, 144, 1, 0, 0, 0, 147, 149, 5, 13, 0, 0, 148, 147, 1, 0, 0, 0, 148, 149, 1, 0, 0, 0, 149, 150, 1, 0, 0, 0, 150, 151, 5, 10, 0, 0, 151, 152, 1, 0, 0, 0, 152, 153, 6, 16, 0, 0, 153, 34, 1, 0, 0, 0, 154, 156, 7, 4, 0, 0, 155, 154, 1, 0, 0, 0, 156, 157, 1, 0, 0, 0, 157, 155, 1, 0, 0, 0, 157, 158, 1, 0, 0, 0, 158, 159, 1, 0, 0, 0, 159, 160, 6, 17, 0, 0, 160, 36, 1, 0, 0, 0, 12, 0, 102, 106, 112, 116, 121, 127, 134, 136, 144, 148, 157, 1, 6, 0, 0]
\ No newline at end of file
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.py b/robowaiter/behavior_tree/ptml/ptmlLexer.py
index 6bd416c..76850f6 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.py
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.py
@@ -15,7 +15,7 @@ def serializedATN():
         13,7,13,2,14,7,14,2,15,7,15,2,16,7,16,2,17,7,17,1,0,1,0,1,1,1,1,
         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,
         1,3,1,3,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,4,1,5,1,5,1,5,1,5,1,6,
-        1,6,1,6,1,6,1,7,1,7,1,7,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,11,1,
+        1,6,1,6,1,6,1,6,1,7,1,7,1,7,1,7,1,8,1,8,1,9,1,9,1,10,1,10,1,11,1,
         11,1,11,1,11,1,11,1,12,1,12,1,12,1,12,1,12,1,12,1,13,1,13,5,13,101,
         8,13,10,13,12,13,104,9,13,1,14,3,14,107,8,14,1,14,1,14,5,14,111,
         8,14,10,14,12,14,114,9,14,1,14,3,14,117,8,14,1,15,4,15,120,8,15,
@@ -31,7 +31,7 @@ def serializedATN():
         0,0,21,1,0,0,0,0,23,1,0,0,0,0,25,1,0,0,0,0,27,1,0,0,0,0,29,1,0,0,
         0,0,31,1,0,0,0,0,33,1,0,0,0,0,35,1,0,0,0,1,37,1,0,0,0,3,39,1,0,0,
         0,5,41,1,0,0,0,7,50,1,0,0,0,9,59,1,0,0,0,11,68,1,0,0,0,13,72,1,0,
-        0,0,15,76,1,0,0,0,17,81,1,0,0,0,19,83,1,0,0,0,21,85,1,0,0,0,23,87,
+        0,0,15,77,1,0,0,0,17,81,1,0,0,0,19,83,1,0,0,0,21,85,1,0,0,0,23,87,
         1,0,0,0,25,92,1,0,0,0,27,98,1,0,0,0,29,116,1,0,0,0,31,136,1,0,0,
         0,33,138,1,0,0,0,35,155,1,0,0,0,37,38,5,123,0,0,38,2,1,0,0,0,39,
         40,5,125,0,0,40,4,1,0,0,0,41,42,5,115,0,0,42,43,5,101,0,0,43,44,
@@ -41,9 +41,9 @@ def serializedATN():
         0,56,57,5,111,0,0,57,58,5,114,0,0,58,8,1,0,0,0,59,60,5,112,0,0,60,
         61,5,97,0,0,61,62,5,114,0,0,62,63,5,97,0,0,63,64,5,108,0,0,64,65,
         5,108,0,0,65,66,5,101,0,0,66,67,5,108,0,0,67,10,1,0,0,0,68,69,5,
-        110,0,0,69,70,5,111,0,0,70,71,5,116,0,0,71,12,1,0,0,0,72,73,5,97,
-        0,0,73,74,5,99,0,0,74,75,5,116,0,0,75,14,1,0,0,0,76,77,5,99,0,0,
-        77,78,5,111,0,0,78,79,5,110,0,0,79,80,5,100,0,0,80,16,1,0,0,0,81,
+        97,0,0,69,70,5,99,0,0,70,71,5,116,0,0,71,12,1,0,0,0,72,73,5,99,0,
+        0,73,74,5,111,0,0,74,75,5,110,0,0,75,76,5,100,0,0,76,14,1,0,0,0,
+        77,78,5,78,0,0,78,79,5,111,0,0,79,80,5,116,0,0,80,16,1,0,0,0,81,
         82,5,40,0,0,82,18,1,0,0,0,83,84,5,41,0,0,84,20,1,0,0,0,85,86,5,44,
         0,0,86,22,1,0,0,0,87,88,5,84,0,0,88,89,5,114,0,0,89,90,5,117,0,0,
         90,91,5,101,0,0,91,24,1,0,0,0,92,93,5,70,0,0,93,94,5,97,0,0,94,95,
@@ -100,8 +100,8 @@ class ptmlLexer(Lexer):
     modeNames = [ "DEFAULT_MODE" ]
 
     literalNames = [ "<INVALID>",
-            "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'not'", 
-            "'act'", "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
+            "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'act'", 
+            "'cond'", "'Not'", "'('", "')'", "','", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>",
             "String", "Integer", "Float", "LINE_COMMENT", "WS" ]
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.tokens b/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
index e6d0e71..e4add52 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
@@ -21,9 +21,9 @@ WS=18
 'sequence'=3
 'selector'=4
 'parallel'=5
-'not'=6
-'act'=7
-'cond'=8
+'act'=6
+'cond'=7
+'Not'=8
 '('=9
 ')'=10
 ','=11
diff --git a/robowaiter/behavior_tree/ptml/ptmlParser.py b/robowaiter/behavior_tree/ptml/ptmlParser.py
index ff36a98..9f64afe 100644
--- a/robowaiter/behavior_tree/ptml/ptmlParser.py
+++ b/robowaiter/behavior_tree/ptml/ptmlParser.py
@@ -12,19 +12,19 @@ def serializedATN():
     return [
         4,1,18,68,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
         0,14,8,0,11,0,12,0,15,1,0,1,0,1,1,1,1,1,1,1,1,5,1,24,8,1,10,1,12,
-        1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,3,3,38,8,3,1,3,1,
+        1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,1,3,3,3,39,8,3,1,
         3,1,3,1,3,3,3,44,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,52,8,4,1,4,1,4,
         1,4,1,4,1,4,3,4,59,8,4,5,4,61,8,4,10,4,12,4,64,9,4,1,5,1,5,1,5,0,
-        0,6,0,2,4,6,8,10,0,2,1,0,7,8,1,0,12,13,75,0,13,1,0,0,0,2,19,1,0,
-        0,0,4,34,1,0,0,0,6,37,1,0,0,0,8,51,1,0,0,0,10,65,1,0,0,0,12,14,3,
+        0,6,0,2,4,6,8,10,0,2,1,0,6,7,1,0,12,13,75,0,13,1,0,0,0,2,19,1,0,
+        0,0,4,34,1,0,0,0,6,36,1,0,0,0,8,51,1,0,0,0,10,65,1,0,0,0,12,14,3,
         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,
         17,1,0,0,0,17,18,5,0,0,1,18,1,1,0,0,0,19,20,3,4,2,0,20,25,5,1,0,
         0,21,24,3,6,3,0,22,24,3,2,1,0,23,21,1,0,0,0,23,22,1,0,0,0,24,27,
         1,0,0,0,25,23,1,0,0,0,25,26,1,0,0,0,26,28,1,0,0,0,27,25,1,0,0,0,
         28,29,5,2,0,0,29,3,1,0,0,0,30,35,5,3,0,0,31,35,5,4,0,0,32,33,5,5,
         0,0,33,35,5,15,0,0,34,30,1,0,0,0,34,31,1,0,0,0,34,32,1,0,0,0,35,
-        5,1,0,0,0,36,38,5,6,0,0,37,36,1,0,0,0,37,38,1,0,0,0,38,39,1,0,0,
-        0,39,40,7,0,0,0,40,41,5,14,0,0,41,43,5,9,0,0,42,44,3,8,4,0,43,42,
+        5,1,0,0,0,36,38,7,0,0,0,37,39,5,8,0,0,38,37,1,0,0,0,38,39,1,0,0,
+        0,39,40,1,0,0,0,40,41,5,14,0,0,41,43,5,9,0,0,42,44,3,8,4,0,43,42,
         1,0,0,0,43,44,1,0,0,0,44,45,1,0,0,0,45,46,5,10,0,0,46,7,1,0,0,0,
         47,52,5,15,0,0,48,52,5,16,0,0,49,52,3,10,5,0,50,52,5,14,0,0,51,47,
         1,0,0,0,51,48,1,0,0,0,51,49,1,0,0,0,51,50,1,0,0,0,52,62,1,0,0,0,
@@ -32,7 +32,7 @@ def serializedATN():
         5,14,0,0,58,54,1,0,0,0,58,55,1,0,0,0,58,56,1,0,0,0,58,57,1,0,0,0,
         59,61,1,0,0,0,60,53,1,0,0,0,61,64,1,0,0,0,62,60,1,0,0,0,62,63,1,
         0,0,0,63,9,1,0,0,0,64,62,1,0,0,0,65,66,7,1,0,0,66,11,1,0,0,0,9,15,
-        23,25,34,37,43,51,58,62
+        23,25,34,38,43,51,58,62
     ]
 
 class ptmlParser ( Parser ):
@@ -46,7 +46,7 @@ class ptmlParser ( Parser ):
     sharedContextCache = PredictionContextCache()
 
     literalNames = [ "<INVALID>", "'{'", "'}'", "'sequence'", "'selector'", 
-                     "'parallel'", "'not'", "'act'", "'cond'", "'('", "')'", 
+                     "'parallel'", "'act'", "'cond'", "'Not'", "'('", "')'", 
                      "','", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
@@ -208,11 +208,11 @@ class ptmlParser ( Parser ):
             self.state = 25
             self._errHandler.sync(self)
             _la = self._input.LA(1)
-            while (((_la) & ~0x3f) == 0 and ((1 << _la) & 504) != 0):
+            while (((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0):
                 self.state = 23
                 self._errHandler.sync(self)
                 token = self._input.LA(1)
-                if token in [6, 7, 8]:
+                if token in [6, 7]:
                     self.state = 21
                     self.action_sign()
                     pass
@@ -334,21 +334,21 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 37
-            self._errHandler.sync(self)
+            self.state = 36
             _la = self._input.LA(1)
-            if _la==6:
-                self.state = 36
-                self.match(ptmlParser.T__5)
-
-
-            self.state = 39
-            _la = self._input.LA(1)
-            if not(_la==7 or _la==8):
+            if not(_la==6 or _la==7):
                 self._errHandler.recoverInline(self)
             else:
                 self._errHandler.reportMatch(self)
                 self.consume()
+            self.state = 38
+            self._errHandler.sync(self)
+            _la = self._input.LA(1)
+            if _la==8:
+                self.state = 37
+                self.match(ptmlParser.T__7)
+
+
             self.state = 40
             self.match(ptmlParser.String)
             self.state = 41
diff --git a/robowaiter/behavior_tree/ptml/ptmlTranslator.py b/robowaiter/behavior_tree/ptml/ptmlTranslator.py
index 8f535c0..d93f33c 100644
--- a/robowaiter/behavior_tree/ptml/ptmlTranslator.py
+++ b/robowaiter/behavior_tree/ptml/ptmlTranslator.py
@@ -99,8 +99,8 @@ class ptmlTranslator(ptmlListener):
         node.set_scene(self.scene)
 
         # if have 'not' decorator
-        if str(ctx.children[0]) == 'not':
-            upper_node = ptree.decorators.Inverter(node)
+        if str(ctx.children[1]) == 'Not':
+            upper_node = ptree.decorators.Inverter(name="Inverter", child=node)
             # connect
             self.stack[-1].add_child(upper_node)
         else: