diff --git a/robowaiter/behavior_lib/act/PutDown.py b/robowaiter/behavior_lib/act/PutDown.py
index 30a6476..532fd31 100644
--- a/robowaiter/behavior_lib/act/PutDown.py
+++ b/robowaiter/behavior_lib/act/PutDown.py
@@ -21,7 +21,7 @@ class PutDown(Act):
         info = {}
         info["pre"] = {f'Holding({arg[0]})',f'At(Robot,{arg[1]})'}
         info["add"] = {f'Holding(Nothing)',f'At({arg[0]},{arg[1]})'}
-        info["del_set"] = {f'Holding(Nothing)'}
+        info["del_set"] = {f'Holding({arg[0]})'}
         return info
 
 
diff --git a/robowaiter/behavior_lib/act/Turn.py b/robowaiter/behavior_lib/act/Turn.py
index 73d0551..b499e24 100644
--- a/robowaiter/behavior_lib/act/Turn.py
+++ b/robowaiter/behavior_lib/act/Turn.py
@@ -41,29 +41,33 @@ class Turn(Act):
                 self.op_type = 10
         elif self.target_obj=="Curtain":
             if self.op == 'On':
-                self.op_type = 11
-            elif self.op == 'Off':
                 self.op_type = 12
+            elif self.op == 'Off':
+                self.op_type = 11
 
     @classmethod
     def get_info(cls,*arg):
         info = {}
+        info["pre"] = set()
         if arg[0]=="TubeLight" or arg[0]=="HallLight" or arg[0]=="Curtain" or arg[0]=='AC':
+            if arg[0]!="Curtain":
+                info["pre"] |= {f'Holding(Nothing)'}
             if arg[1]=="On":
-                info["pre"] = {f'Is({arg[0]},Off)'}
+                info["pre"] |= {f'Is({arg[0]},Off)'}
                 info["add"] = {f'Is({arg[0]},On)'}
                 info["del_set"] = {f'Is({arg[0]},Off)'}
             elif arg[1]=="Off":
-                info["pre"] = {f'Is({arg[0]},On)'}
+                info["pre"] |= {f'Is({arg[0]},On)'}
                 info["add"] = {f'Is({arg[0]},Off)'}
                 info["del_set"] = {f'Is({arg[0]},On)'}
         elif arg[0]=='ACTemperature':
+            info["pre"] = {f'Holding(Nothing)'}
             if arg[1]=="Up":
-                info["pre"] = {f'Is({arg[0]},Down)'}
+                info["pre"] |= {f'Is({arg[0]},Down)'}
                 info["add"] = {f'Is({arg[0]},Up)'}
                 info["del_set"] = {f'Is({arg[0]},Down)'}
-            elif arg[1]=="Donw":
-                info["pre"] = {f'Is({arg[0]},Up)'}
+            elif arg[1]=="Down":
+                info["pre"] |= {f'Is({arg[0]},Up)'}
                 info["add"] = {f'Is({arg[0]},Down)'}
                 info["del_set"] = {f'Is({arg[0]},Up)'}
         return info
diff --git a/robowaiter/llm_client/data/test_questions.txt b/robowaiter/llm_client/data/test_questions.txt
index 42f5756..44b4914 100644
--- a/robowaiter/llm_client/data/test_questions.txt
+++ b/robowaiter/llm_client/data/test_questions.txt
@@ -1 +1 @@
-{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLM：前往桌子2": {"Answer": " 测试VLM：前往桌子2", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}}
+{"测试VLM：做一杯咖啡": {"Answer": "测试VLM：做一杯咖啡", "Goal": "{\"At(Coffee,Bar)\"}"}, "测试VLM：前往桌子2": {"Answer": " 测试VLM：前往桌子2", "Goal": "{\"At(Robot,Table2)\"}"}, "测试AEM": {"Answer": "测试AEM", "Goal": "{\"EnvExplored()\"}"}, "测试VLM：倒一杯水": {"Answer": "测试VLM：倒一杯水", "Goal": "{\"On(Water,WaterTable)\"}"}, "测试VLM：开空调": {"Answer": "测试VLM：开空调", "Goal": "{\"Is(AC,On)\"}"}, "测试VLM：关空调": {"Answer": "测试VLM：关空调", "Goal": "{\"Is(AC,Off)\"}"}, "测试VLM：关大厅灯": {"Answer": "测试VLM：关大厅灯", "Goal": "{\"Is(HallLight,Off)\"}"}, "测试VLM：开大厅灯": {"Answer": "测试VLM：开大厅灯", "Goal": "{\"Is(HallLight,On)\"}"}, "测试VLM：关筒灯": {"Answer": "测试VLM：关筒灯", "Goal": "{\"Is(TubeLight,Off)\"}"}, "测试VLM：开筒灯": {"Answer": "测试VLM：开筒灯", "Goal": "{\"Is(TubeLight,On)\"}"}, "测试VLM：关窗帘": {"Answer": "测试VLM：关窗帘", "Goal": "{\"Is(Curtain,Off)\"}"}, "测试VLM：开窗帘": {"Answer": "测试VLM：开窗帘", "Goal": "{\"Is(Curtain,On)\"}"}, "测试VLM：拖地": {"Answer": "测试VLM：拖地", "Goal": "{\"Is(Floor,Clean)\"}"}, "测试VLM：擦桌子": {"Answer": "测试VLM：擦桌子", "Goal": "{\"Is(Table1,Clean)\"}"}, "测试VLM：整理椅子": {"Answer": "测试VLM：整理椅子", "Goal": "{\"Is(Chairs,Clean)\"}"}, "测试VLM：把冰红茶放到Table2": {"Answer": "测试VLM：把冰红茶放到Table2", "Goal": "{\"On(BottledDrink,Table2)\"}"}}
diff --git a/robowaiter/llm_client/data_raw/test_questions.csv b/robowaiter/llm_client/data_raw/test_questions.csv
index fda2291..9313d61 100644
--- a/robowaiter/llm_client/data_raw/test_questions.csv
+++ b/robowaiter/llm_client/data_raw/test_questions.csv
@@ -4,9 +4,14 @@ Question,Answer,Goal
 ����AEM,����AEM,"{""EnvExplored()""}"
 ����VLM����һ��ˮ,����VLM����һ��ˮ,"{""On(Water,WaterTable)""}"
 ����VLM�����յ�,����VLM�����յ�,"{""Is(AC,On)""}"
+����VLM���ؿյ�,����VLM���ؿյ�,"{""Is(AC,Off)""}"
 ����VLM���ش�����,����VLM���ش�����,"{""Is(HallLight,Off)""}"
+����VLM����������,����VLM����������,"{""Is(HallLight,On)""}"
 ����VLM����Ͳ��,����VLM����Ͳ��,"{""Is(TubeLight,Off)""}"
-����VLM���ش���,����VLM���ش�,"{""Is(Curtain,Off)""}"
+����VLM����Ͳ��,����VLM����Ͳ��,"{""Is(TubeLight,On)""}"
+����VLM���ش���,����VLM���ش���,"{""Is(Curtain,Off)""}"
+����VLM��������,����VLM��������,"{""Is(Curtain,On)""}"
 ����VLM���ϵ�,����VLM���ϵ�,"{""Is(Floor,Clean)""}"
 ����VLM��������,����VLM��������,"{""Is(Table1,Clean)""}"
+����VLM����������,����VLM����������,"{""Is(Chairs,Clean)""}"
 ����VLM���ѱ����ŵ�Table2,����VLM���ѱ����ŵ�Table2,"{""On(BottledDrink,Table2)""}"
diff --git a/robowaiter/robot/robot.py b/robowaiter/robot/robot.py
index 185c7d7..ec2dadd 100644
--- a/robowaiter/robot/robot.py
+++ b/robowaiter/robot/robot.py
@@ -48,7 +48,8 @@ class Robot(object):
             print("\n--------------------")
             print(f"首次运行行为树扩展算法，收集到{len(self.action_list)}个有效动作:")
             for a in self.action_list:
-                print(a.name)
+                if "Turn" in a.name:
+                    print(a.name)
             print("--------------------\n")
 
 
diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index 17a0ccd..3c350b8 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -416,13 +416,14 @@ class Scene:
         self.robo_recover()
         return True
 
-    def gen_obj(self,h=100):
+    def gen_obj(self,type=5,h=100):
         # 4;冰红(盒) 5;酸奶  7:保温杯 9;冰红(瓶) 13:代语词典  14:cake 61:甜牛奶
+        type= 5  #9
         scene = stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
         ginger_loc = [scene.location.X, scene.location.Y, scene.location.Z]
-        obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=9),
+        obj_list = [GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 55, y=ginger_loc[1] - 40, z = 95, roll=0, pitch=0, yaw=0, type=5),
                     # GrabSim_pb2.ObjectList.Object(x=ginger_loc[0] - 50, y=ginger_loc[1] - 40, z=h, roll=0, pitch=0, yaw=0, type=9),
-                    GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=7),
+                    GrabSim_pb2.ObjectList.Object(x=340, y=960, z = 88, roll=0, pitch=0, yaw=0, type=9),
                     ]
         scene = stub.AddObjects(GrabSim_pb2.ObjectList(objects=obj_list, scene=self.sceneID))
         time.sleep(1.0)
diff --git a/robowaiter/scene/tasks/VLM.py b/robowaiter/scene/tasks/VLM.py
index 85052d5..eae59a5 100644
--- a/robowaiter/scene/tasks/VLM.py
+++ b/robowaiter/scene/tasks/VLM.py
@@ -13,14 +13,28 @@ class SceneVLM(Scene):
         self.event_list = [
             # (5, self.create_chat_event("测试VLM：做一杯咖啡")),
             # (5, self.create_chat_event("测试VLM：倒一杯水")),
-            (5, self.create_chat_event("测试VLM：开空调")),
+            # (5, self.create_chat_event("测试VLM：开空调")),
+            # (5, self.create_chat_event("测试VLM：关空调")),
+            # (5, self.create_chat_event("测试VLM：开大厅灯")),
+            (5, self.create_chat_event("测试VLM：拖地")),
+            # (5, self.create_chat_event("测试VLM：擦桌子")),
+            # (5, self.create_chat_event("测试VLM：整理椅子")),
+            # (5, self.create_chat_event("测试VLM：把冰红茶放到Table2")),
+            # (5, self.create_chat_event("测试VLM：关大厅灯"))
         ]
 
     def _reset(self):
-        self.state["condition_set"] = {'At(Robot,Bar)','Holding(Nothing)','Is(AC,Off)'}
+        self.state["condition_set"] = {'At(Robot,Bar)','Is(AC,Off)', 'Holding(Nothing)',  # 'Holding(Yogurt)', #'Holding(Nothing)',
+                                       'Is(HallLight,Off)','Is(TubeLight,On)','Is(Curtain,On)',
+                                       'Is(Table1,Dirty)','Is(Floor,Dirty)','Is(Chairs,Dirty)'}
+        # self.gen_obj(type=5)
+        # # self.gen_obj(type=9)
+        # self.op_task_execute(op_type=16, obj_id=0)
+        # self.move_task_area(op_type=4)
         pass
 
-    def _run(self, op_type=7):
+    def _run(self, op_type=10):
+
         # 共17个操作
         # "制作咖啡","倒水","夹点心","拖地","擦桌子","开筒灯","搬椅子",    # 1-7
         # "关筒灯","开大厅灯","关大厅灯","关闭窗帘","打开窗帘",            # 8-12
diff --git a/sub_task.ptml b/sub_task.ptml
index e2a81fa..7671dad 100644
--- a/sub_task.ptml
+++ b/sub_task.ptml
@@ -1,7 +1,327 @@
 selector{
-cond Is(AC,On)
+cond Is(Floor,Clean)
 sequence{
-cond Is(AC,Off)
-act Turn(AC,On)
+cond Holding(Nothing)
+act Clean(Floor)
+}
+sequence{
+cond Holding(Milk), At(Robot,Table2)
+act PutDown(Milk,Table2)
+}
+sequence{
+cond Holding(Milk), At(Robot,WaterTable)
+act PutDown(Milk,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(Milk)
+act PutDown(Milk,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(Milk)
+act PutDown(Milk,Bar)
+}
+sequence{
+cond Holding(Milk), At(Robot,Table1)
+act PutDown(Milk,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(Milk)
+act PutDown(Milk,Table3)
+}
+sequence{
+cond Holding(Milk), At(Robot,Bar2)
+act PutDown(Milk,Bar2)
+}
+sequence{
+cond Holding(Coffee), At(Robot,Table2)
+act PutDown(Coffee,Table2)
+}
+sequence{
+cond At(Robot,WaterTable), Holding(Coffee)
+act PutDown(Coffee,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(Coffee)
+act PutDown(Coffee,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(Coffee)
+act PutDown(Coffee,Bar)
+}
+sequence{
+cond At(Robot,Table1), Holding(Coffee)
+act PutDown(Coffee,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(Coffee)
+act PutDown(Coffee,Table3)
+}
+sequence{
+cond At(Robot,Bar2), Holding(Coffee)
+act PutDown(Coffee,Bar2)
+}
+sequence{
+cond Holding(Softdrink), At(Robot,Table2)
+act PutDown(Softdrink,Table2)
+}
+sequence{
+cond Holding(Softdrink), At(Robot,WaterTable)
+act PutDown(Softdrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(Softdrink)
+act PutDown(Softdrink,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(Softdrink)
+act PutDown(Softdrink,Bar)
+}
+sequence{
+cond Holding(Softdrink), At(Robot,Table1)
+act PutDown(Softdrink,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(Softdrink)
+act PutDown(Softdrink,Table3)
+}
+sequence{
+cond Holding(Softdrink), At(Robot,Bar2)
+act PutDown(Softdrink,Bar2)
+}
+sequence{
+cond Holding(MilkDrink), At(Robot,Table2)
+act PutDown(MilkDrink,Table2)
+}
+sequence{
+cond Holding(MilkDrink), At(Robot,WaterTable)
+act PutDown(MilkDrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(MilkDrink)
+act PutDown(MilkDrink,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(MilkDrink)
+act PutDown(MilkDrink,Bar)
+}
+sequence{
+cond Holding(MilkDrink), At(Robot,Table1)
+act PutDown(MilkDrink,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(MilkDrink)
+act PutDown(MilkDrink,Table3)
+}
+sequence{
+cond Holding(MilkDrink), At(Robot,Bar2)
+act PutDown(MilkDrink,Bar2)
+}
+sequence{
+cond Holding(Water), At(Robot,Table2)
+act PutDown(Water,Table2)
+}
+sequence{
+cond Holding(Water), At(Robot,WaterTable)
+act PutDown(Water,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(Water)
+act PutDown(Water,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(Water)
+act PutDown(Water,Bar)
+}
+sequence{
+cond Holding(Water), At(Robot,Table1)
+act PutDown(Water,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(Water)
+act PutDown(Water,Table3)
+}
+sequence{
+cond Holding(Water), At(Robot,Bar2)
+act PutDown(Water,Bar2)
+}
+sequence{
+cond Holding(ADMilk), At(Robot,Table2)
+act PutDown(ADMilk,Table2)
+}
+sequence{
+cond At(Robot,WaterTable), Holding(ADMilk)
+act PutDown(ADMilk,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(ADMilk)
+act PutDown(ADMilk,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(ADMilk)
+act PutDown(ADMilk,Bar)
+}
+sequence{
+cond At(Robot,Table1), Holding(ADMilk)
+act PutDown(ADMilk,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(ADMilk)
+act PutDown(ADMilk,Table3)
+}
+sequence{
+cond At(Robot,Bar2), Holding(ADMilk)
+act PutDown(ADMilk,Bar2)
+}
+sequence{
+cond At(Robot,Table2), Holding(VacuumCup)
+act PutDown(VacuumCup,Table2)
+}
+sequence{
+cond At(Robot,WaterTable), Holding(VacuumCup)
+act PutDown(VacuumCup,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(VacuumCup)
+act PutDown(VacuumCup,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(VacuumCup)
+act PutDown(VacuumCup,Bar)
+}
+sequence{
+cond At(Robot,Table1), Holding(VacuumCup)
+act PutDown(VacuumCup,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(VacuumCup)
+act PutDown(VacuumCup,Table3)
+}
+sequence{
+cond At(Robot,Bar2), Holding(VacuumCup)
+act PutDown(VacuumCup,Bar2)
+}
+sequence{
+cond Holding(BottledDrink), At(Robot,Table2)
+act PutDown(BottledDrink,Table2)
+}
+sequence{
+cond Holding(BottledDrink), At(Robot,WaterTable)
+act PutDown(BottledDrink,WaterTable)
+}
+sequence{
+cond At(Robot,CoffeeTable), Holding(BottledDrink)
+act PutDown(BottledDrink,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(BottledDrink)
+act PutDown(BottledDrink,Bar)
+}
+sequence{
+cond Holding(BottledDrink), At(Robot,Table1)
+act PutDown(BottledDrink,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(BottledDrink)
+act PutDown(BottledDrink,Table3)
+}
+sequence{
+cond Holding(BottledDrink), At(Robot,Bar2)
+act PutDown(BottledDrink,Bar2)
+}
+sequence{
+cond Holding(Dessert), At(Robot,Table2)
+act PutDown(Dessert,Table2)
+}
+sequence{
+cond Holding(Dessert), At(Robot,WaterTable)
+act PutDown(Dessert,WaterTable)
+}
+sequence{
+cond Holding(Dessert), At(Robot,CoffeeTable)
+act PutDown(Dessert,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(Dessert)
+act PutDown(Dessert,Bar)
+}
+sequence{
+cond Holding(Dessert), At(Robot,Table1)
+act PutDown(Dessert,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(Dessert)
+act PutDown(Dessert,Table3)
+}
+sequence{
+cond Holding(Dessert), At(Robot,Bar2)
+act PutDown(Dessert,Bar2)
+}
+sequence{
+cond Holding(Yogurt), At(Robot,Table2)
+act PutDown(Yogurt,Table2)
+}
+sequence{
+cond Holding(Yogurt), At(Robot,WaterTable)
+act PutDown(Yogurt,WaterTable)
+}
+sequence{
+cond Holding(Yogurt), At(Robot,CoffeeTable)
+act PutDown(Yogurt,CoffeeTable)
+}
+sequence{
+cond At(Robot,Bar), Holding(Yogurt)
+act PutDown(Yogurt,Bar)
+}
+sequence{
+cond Holding(Yogurt), At(Robot,Table1)
+act PutDown(Yogurt,Table1)
+}
+sequence{
+cond At(Robot,Table3), Holding(Yogurt)
+act PutDown(Yogurt,Table3)
+}
+sequence{
+cond Holding(Yogurt), At(Robot,Bar2)
+act PutDown(Yogurt,Bar2)
+}
+sequence{
+cond Holding(Milk)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(Coffee)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(Softdrink)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(MilkDrink)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(Water)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(ADMilk)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(VacuumCup)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(BottledDrink)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(Dessert)
+act MoveTo(Table2)
+}
+sequence{
+cond Holding(Yogurt)
+act MoveTo(Table2)
 }
 }