diff --git a/ptml/BT_api.py b/ptml/BT_api.py
index 59997b7..4c4e972 100644
--- a/ptml/BT_api.py
+++ b/ptml/BT_api.py
@@ -1,4 +1,5 @@
 import py_trees as bt
+import typing
 
 class BTAPI():
     """
@@ -14,4 +15,56 @@ class BTAPI():
 
         Returns:
             bt.trees.BehaviourTree: _description_
-        """
\ No newline at end of file
+        """
+        
+    def newSequenceNode(self, tag: str='') -> None:
+        """_summary_
+
+        Args:
+            tag (str, optional): _description_. Defaults to ''.
+        """
+        return
+    
+    def newSelectorNode(self, tag: str='') -> None:
+        """_summary_
+
+        Args:
+            tag (str, optional): _description_. Defaults to ''.
+        """
+        return
+    
+    def newParallelNode(self, threshold:int) -> None:
+        """_summary_
+
+        Args:
+            threshold (int): _description_
+        """
+        return
+    
+    def newDecoratorNode(self, tag: str='') -> None:
+        """_summary_
+
+        Args:
+            tag (str, optional): _description_. Defaults to ''.
+        """
+        return
+    
+    def newBehaviourNode(self, name: str, args: typing.Optional[typing.List[str]]=[], tag:str='', isCond:bool=False) -> None:
+        """_summary_
+
+        Args:
+            name (str): _description_
+            args (typing.Optional[typing.List[str]], optional): _description_. Defaults to [].
+            tag (str, optional): _description_. Defaults to ''.
+            isCond (bool, optional): _description_. Defaults to False.
+        """
+        return
+    
+    def attach_to_parent(self, uuid_child:str, uuid_parent:str) -> None:
+        """_summary_
+
+        Args:
+            uuid_child (str): _description_
+            uuid_parent (str): _description_
+        """
+        return
\ No newline at end of file
diff --git a/ptml/ptml.g4 b/ptml/ptml.g4
index b995706..adab6ae 100644
--- a/ptml/ptml.g4
+++ b/ptml/ptml.g4
@@ -5,9 +5,9 @@ root            : tree+ EOF;
 tree    		: internal_node ':' (action_sign|tree)+ ;
 internal_node   : 'sequence' | 'selector' | 'parallel' Integer | 'decorator' ;
 action_sign     : ('task'|'cond') Names '(' action_parm? ')';
-action_parm     : (var_decls|Integer|Float|boolean) (',' (var_decls|Integer|Float|boolean))* ;
-var_decls		: var_type Names ;
-var_type		: 'int' | 'float' | 'bool' | 'string' ;
+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]* ;
diff --git a/ptml/ptml.interp b/ptml/ptml.interp
index 1dcc5d2..3ded37b 100644
--- a/ptml/ptml.interp
+++ b/ptml/ptml.interp
@@ -10,10 +10,6 @@ null
 '('
 ')'
 ','
-'int'
-'float'
-'bool'
-'string'
 'True'
 'False'
 null
@@ -36,10 +32,6 @@ null
 null
 null
 null
-null
-null
-null
-null
 Names
 Integer
 Float
@@ -52,10 +44,8 @@ tree
 internal_node
 action_sign
 action_parm
-var_decls
-var_type
 boolean
 
 
 atn:
-[4, 1, 21, 72, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 1, 0, 4, 0, 18, 8, 0, 11, 0, 12, 0, 19, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 4, 1, 28, 8, 1, 11, 1, 12, 1, 29, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 37, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 43, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 51, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 58, 8, 4, 5, 4, 60, 8, 4, 10, 4, 12, 4, 63, 9, 4, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 7, 1, 7, 1, 7, 0, 0, 8, 0, 2, 4, 6, 8, 10, 12, 14, 0, 3, 1, 0, 6, 7, 1, 0, 11, 14, 1, 0, 15, 16, 77, 0, 17, 1, 0, 0, 0, 2, 23, 1, 0, 0, 0, 4, 36, 1, 0, 0, 0, 6, 38, 1, 0, 0, 0, 8, 50, 1, 0, 0, 0, 10, 64, 1, 0, 0, 0, 12, 67, 1, 0, 0, 0, 14, 69, 1, 0, 0, 0, 16, 18, 3, 2, 1, 0, 17, 16, 1, 0, 0, 0, 18, 19, 1, 0, 0, 0, 19, 17, 1, 0, 0, 0, 19, 20, 1, 0, 0, 0, 20, 21, 1, 0, 0, 0, 21, 22, 5, 0, 0, 1, 22, 1, 1, 0, 0, 0, 23, 24, 3, 4, 2, 0, 24, 27, 5, 1, 0, 0, 25, 28, 3, 6, 3, 0, 26, 28, 3, 2, 1, 0, 27, 25, 1, 0, 0, 0, 27, 26, 1, 0, 0, 0, 28, 29, 1, 0, 0, 0, 29, 27, 1, 0, 0, 0, 29, 30, 1, 0, 0, 0, 30, 3, 1, 0, 0, 0, 31, 37, 5, 2, 0, 0, 32, 37, 5, 3, 0, 0, 33, 34, 5, 4, 0, 0, 34, 37, 5, 18, 0, 0, 35, 37, 5, 5, 0, 0, 36, 31, 1, 0, 0, 0, 36, 32, 1, 0, 0, 0, 36, 33, 1, 0, 0, 0, 36, 35, 1, 0, 0, 0, 37, 5, 1, 0, 0, 0, 38, 39, 7, 0, 0, 0, 39, 40, 5, 17, 0, 0, 40, 42, 5, 8, 0, 0, 41, 43, 3, 8, 4, 0, 42, 41, 1, 0, 0, 0, 42, 43, 1, 0, 0, 0, 43, 44, 1, 0, 0, 0, 44, 45, 5, 9, 0, 0, 45, 7, 1, 0, 0, 0, 46, 51, 3, 10, 5, 0, 47, 51, 5, 18, 0, 0, 48, 51, 5, 19, 0, 0, 49, 51, 3, 14, 7, 0, 50, 46, 1, 0, 0, 0, 50, 47, 1, 0, 0, 0, 50, 48, 1, 0, 0, 0, 50, 49, 1, 0, 0, 0, 51, 61, 1, 0, 0, 0, 52, 57, 5, 10, 0, 0, 53, 58, 3, 10, 5, 0, 54, 58, 5, 18, 0, 0, 55, 58, 5, 19, 0, 0, 56, 58, 3, 14, 7, 0, 57, 53, 1, 0, 0, 0, 57, 54, 1, 0, 0, 0, 57, 55, 1, 0, 0, 0, 57, 56, 1, 0, 0, 0, 58, 60, 1, 0, 0, 0, 59, 52, 1, 0, 0, 0, 60, 63, 1, 0, 0, 0, 61, 59, 1, 0, 0, 0, 61, 62, 1, 0, 0, 0, 62, 9, 1, 0, 0, 0, 63, 61, 1, 0, 0, 0, 64, 65, 3, 12, 6, 0, 65, 66, 5, 17, 0, 0, 66, 11, 1, 0, 0, 0, 67, 68, 7, 1, 0, 0, 68, 13, 1, 0, 0, 0, 69, 70, 7, 2, 0, 0, 70, 15, 1, 0, 0, 0, 8, 19, 27, 29, 36, 42, 50, 57, 61]
\ No newline at end of file
+[4, 1, 17, 61, 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, 2, 1, 2, 1, 2, 1, 2, 1, 2, 3, 2, 33, 8, 2, 1, 3, 1, 3, 1, 3, 1, 3, 3, 3, 39, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 3, 4, 46, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 52, 8, 4, 5, 4, 54, 8, 4, 10, 4, 12, 4, 57, 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, 32, 1, 0, 0, 0, 6, 34, 1, 0, 0, 0, 8, 45, 1, 0, 0, 0, 10, 58, 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, 3, 1, 0, 0, 0, 27, 33, 5, 2, 0, 0, 28, 33, 5, 3, 0, 0, 29, 30, 5, 4, 0, 0, 30, 33, 5, 14, 0, 0, 31, 33, 5, 5, 0, 0, 32, 27, 1, 0, 0, 0, 32, 28, 1, 0, 0, 0, 32, 29, 1, 0, 0, 0, 32, 31, 1, 0, 0, 0, 33, 5, 1, 0, 0, 0, 34, 35, 7, 0, 0, 0, 35, 36, 5, 13, 0, 0, 36, 38, 5, 8, 0, 0, 37, 39, 3, 8, 4, 0, 38, 37, 1, 0, 0, 0, 38, 39, 1, 0, 0, 0, 39, 40, 1, 0, 0, 0, 40, 41, 5, 9, 0, 0, 41, 7, 1, 0, 0, 0, 42, 46, 5, 14, 0, 0, 43, 46, 5, 15, 0, 0, 44, 46, 3, 10, 5, 0, 45, 42, 1, 0, 0, 0, 45, 43, 1, 0, 0, 0, 45, 44, 1, 0, 0, 0, 46, 55, 1, 0, 0, 0, 47, 51, 5, 10, 0, 0, 48, 52, 5, 14, 0, 0, 49, 52, 5, 15, 0, 0, 50, 52, 3, 10, 5, 0, 51, 48, 1, 0, 0, 0, 51, 49, 1, 0, 0, 0, 51, 50, 1, 0, 0, 0, 52, 54, 1, 0, 0, 0, 53, 47, 1, 0, 0, 0, 54, 57, 1, 0, 0, 0, 55, 53, 1, 0, 0, 0, 55, 56, 1, 0, 0, 0, 56, 9, 1, 0, 0, 0, 57, 55, 1, 0, 0, 0, 58, 59, 7, 1, 0, 0, 59, 11, 1, 0, 0, 0, 8, 15, 23, 25, 32, 38, 45, 51, 55]
\ No newline at end of file
diff --git a/ptml/ptml.tokens b/ptml/ptml.tokens
index cde89de..7e8628f 100644
--- a/ptml/ptml.tokens
+++ b/ptml/ptml.tokens
@@ -10,15 +10,11 @@ T__8=9
 T__9=10
 T__10=11
 T__11=12
-T__12=13
-T__13=14
-T__14=15
-T__15=16
-Names=17
-Integer=18
-Float=19
-LINE_COMMENT=20
-WS=21
+Names=13
+Integer=14
+Float=15
+LINE_COMMENT=16
+WS=17
 ':'=1
 'sequence'=2
 'selector'=3
@@ -29,9 +25,5 @@ WS=21
 '('=8
 ')'=9
 ','=10
-'int'=11
-'float'=12
-'bool'=13
-'string'=14
-'True'=15
-'False'=16
+'True'=11
+'False'=12
diff --git a/ptml/ptmlLexer.interp b/ptml/ptmlLexer.interp
index f2e4db7..17ef107 100644
--- a/ptml/ptmlLexer.interp
+++ b/ptml/ptmlLexer.interp
@@ -10,10 +10,6 @@ null
 '('
 ')'
 ','
-'int'
-'float'
-'bool'
-'string'
 'True'
 'False'
 null
@@ -36,10 +32,6 @@ null
 null
 null
 null
-null
-null
-null
-null
 Names
 Integer
 Float
@@ -59,10 +51,6 @@ T__8
 T__9
 T__10
 T__11
-T__12
-T__13
-T__14
-T__15
 Names
 Integer
 Float
@@ -77,4 +65,4 @@ mode names:
 DEFAULT_MODE
 
 atn:
-[4, 0, 21, 194, 6, -1, 2, 0, 7, 0, 2, 1, 7, 1, 2, 2, 7, 2, 2, 3, 7, 3, 2, 4, 7, 4, 2, 5, 7, 5, 2, 6, 7, 6, 2, 7, 7, 7, 2, 8, 7, 8, 2, 9, 7, 9, 2, 10, 7, 10, 2, 11, 7, 11, 2, 12, 7, 12, 2, 13, 7, 13, 2, 14, 7, 14, 2, 15, 7, 15, 2, 16, 7, 16, 2, 17, 7, 17, 2, 18, 7, 18, 2, 19, 7, 19, 2, 20, 7, 20, 1, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 5, 1, 5, 1, 5, 1, 5, 1, 5, 1, 6, 1, 6, 1, 6, 1, 6, 1, 6, 1, 7, 1, 7, 1, 8, 1, 8, 1, 9, 1, 9, 1, 10, 1, 10, 1, 10, 1, 10, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 11, 1, 12, 1, 12, 1, 12, 1, 12, 1, 12, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 13, 1, 14, 1, 14, 1, 14, 1, 14, 1, 14, 1, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 15, 1, 16, 1, 16, 5, 16, 134, 8, 16, 10, 16, 12, 16, 137, 9, 16, 1, 17, 3, 17, 140, 8, 17, 1, 17, 1, 17, 5, 17, 144, 8, 17, 10, 17, 12, 17, 147, 9, 17, 1, 17, 3, 17, 150, 8, 17, 1, 18, 4, 18, 153, 8, 18, 11, 18, 12, 18, 154, 1, 18, 1, 18, 5, 18, 159, 8, 18, 10, 18, 12, 18, 162, 9, 18, 1, 18, 1, 18, 4, 18, 166, 8, 18, 11, 18, 12, 18, 167, 3, 18, 170, 8, 18, 1, 19, 1, 19, 1, 19, 1, 19, 5, 19, 176, 8, 19, 10, 19, 12, 19, 179, 9, 19, 1, 19, 3, 19, 182, 8, 19, 1, 19, 1, 19, 1, 19, 1, 19, 1, 20, 4, 20, 189, 8, 20, 11, 20, 12, 20, 190, 1, 20, 1, 20, 1, 177, 0, 21, 1, 1, 3, 2, 5, 3, 7, 4, 9, 5, 11, 6, 13, 7, 15, 8, 17, 9, 19, 10, 21, 11, 23, 12, 25, 13, 27, 14, 29, 15, 31, 16, 33, 17, 35, 18, 37, 19, 39, 20, 41, 21, 1, 0, 5, 3, 0, 65, 90, 95, 95, 97, 122, 4, 0, 48, 57, 65, 90, 95, 95, 97, 122, 1, 0, 49, 57, 1, 0, 48, 57, 3, 0, 9, 10, 12, 13, 32, 32, 204, 0, 1, 1, 0, 0, 0, 0, 3, 1, 0, 0, 0, 0, 5, 1, 0, 0, 0, 0, 7, 1, 0, 0, 0, 0, 9, 1, 0, 0, 0, 0, 11, 1, 0, 0, 0, 0, 13, 1, 0, 0, 0, 0, 15, 1, 0, 0, 0, 0, 17, 1, 0, 0, 0, 0, 19, 1, 0, 0, 0, 0, 21, 1, 0, 0, 0, 0, 23, 1, 0, 0, 0, 0, 25, 1, 0, 0, 0, 0, 27, 1, 0, 0, 0, 0, 29, 1, 0, 0, 0, 0, 31, 1, 0, 0, 0, 0, 33, 1, 0, 0, 0, 0, 35, 1, 0, 0, 0, 0, 37, 1, 0, 0, 0, 0, 39, 1, 0, 0, 0, 0, 41, 1, 0, 0, 0, 1, 43, 1, 0, 0, 0, 3, 45, 1, 0, 0, 0, 5, 54, 1, 0, 0, 0, 7, 63, 1, 0, 0, 0, 9, 72, 1, 0, 0, 0, 11, 82, 1, 0, 0, 0, 13, 87, 1, 0, 0, 0, 15, 92, 1, 0, 0, 0, 17, 94, 1, 0, 0, 0, 19, 96, 1, 0, 0, 0, 21, 98, 1, 0, 0, 0, 23, 102, 1, 0, 0, 0, 25, 108, 1, 0, 0, 0, 27, 113, 1, 0, 0, 0, 29, 120, 1, 0, 0, 0, 31, 125, 1, 0, 0, 0, 33, 131, 1, 0, 0, 0, 35, 149, 1, 0, 0, 0, 37, 169, 1, 0, 0, 0, 39, 171, 1, 0, 0, 0, 41, 188, 1, 0, 0, 0, 43, 44, 5, 58, 0, 0, 44, 2, 1, 0, 0, 0, 45, 46, 5, 115, 0, 0, 46, 47, 5, 101, 0, 0, 47, 48, 5, 113, 0, 0, 48, 49, 5, 117, 0, 0, 49, 50, 5, 101, 0, 0, 50, 51, 5, 110, 0, 0, 51, 52, 5, 99, 0, 0, 52, 53, 5, 101, 0, 0, 53, 4, 1, 0, 0, 0, 54, 55, 5, 115, 0, 0, 55, 56, 5, 101, 0, 0, 56, 57, 5, 108, 0, 0, 57, 58, 5, 101, 0, 0, 58, 59, 5, 99, 0, 0, 59, 60, 5, 116, 0, 0, 60, 61, 5, 111, 0, 0, 61, 62, 5, 114, 0, 0, 62, 6, 1, 0, 0, 0, 63, 64, 5, 112, 0, 0, 64, 65, 5, 97, 0, 0, 65, 66, 5, 114, 0, 0, 66, 67, 5, 97, 0, 0, 67, 68, 5, 108, 0, 0, 68, 69, 5, 108, 0, 0, 69, 70, 5, 101, 0, 0, 70, 71, 5, 108, 0, 0, 71, 8, 1, 0, 0, 0, 72, 73, 5, 100, 0, 0, 73, 74, 5, 101, 0, 0, 74, 75, 5, 99, 0, 0, 75, 76, 5, 111, 0, 0, 76, 77, 5, 114, 0, 0, 77, 78, 5, 97, 0, 0, 78, 79, 5, 116, 0, 0, 79, 80, 5, 111, 0, 0, 80, 81, 5, 114, 0, 0, 81, 10, 1, 0, 0, 0, 82, 83, 5, 116, 0, 0, 83, 84, 5, 97, 0, 0, 84, 85, 5, 115, 0, 0, 85, 86, 5, 107, 0, 0, 86, 12, 1, 0, 0, 0, 87, 88, 5, 99, 0, 0, 88, 89, 5, 111, 0, 0, 89, 90, 5, 110, 0, 0, 90, 91, 5, 100, 0, 0, 91, 14, 1, 0, 0, 0, 92, 93, 5, 40, 0, 0, 93, 16, 1, 0, 0, 0, 94, 95, 5, 41, 0, 0, 95, 18, 1, 0, 0, 0, 96, 97, 5, 44, 0, 0, 97, 20, 1, 0, 0, 0, 98, 99, 5, 105, 0, 0, 99, 100, 5, 110, 0, 0, 100, 101, 5, 116, 0, 0, 101, 22, 1, 0, 0, 0, 102, 103, 5, 102, 0, 0, 103, 104, 5, 108, 0, 0, 104, 105, 5, 111, 0, 0, 105, 106, 5, 97, 0, 0, 106, 107, 5, 116, 0, 0, 107, 24, 1, 0, 0, 0, 108, 109, 5, 98, 0, 0, 109, 110, 5, 111, 0, 0, 110, 111, 5, 111, 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151, 153, 7, 3, 0, 0, 152, 151, 1, 0, 0, 0, 153, 154, 1, 0, 0, 0, 154, 152, 1, 0, 0, 0, 154, 155, 1, 0, 0, 0, 155, 156, 1, 0, 0, 0, 156, 160, 5, 46, 0, 0, 157, 159, 7, 3, 0, 0, 158, 157, 1, 0, 0, 0, 159, 162, 1, 0, 0, 0, 160, 158, 1, 0, 0, 0, 160, 161, 1, 0, 0, 0, 161, 170, 1, 0, 0, 0, 162, 160, 1, 0, 0, 0, 163, 165, 5, 46, 0, 0, 164, 166, 7, 3, 0, 0, 165, 164, 1, 0, 0, 0, 166, 167, 1, 0, 0, 0, 167, 165, 1, 0, 0, 0, 167, 168, 1, 0, 0, 0, 168, 170, 1, 0, 0, 0, 169, 152, 1, 0, 0, 0, 169, 163, 1, 0, 0, 0, 170, 38, 1, 0, 0, 0, 171, 172, 5, 47, 0, 0, 172, 173, 5, 47, 0, 0, 173, 177, 1, 0, 0, 0, 174, 176, 9, 0, 0, 0, 175, 174, 1, 0, 0, 0, 176, 179, 1, 0, 0, 0, 177, 178, 1, 0, 0, 0, 177, 175, 1, 0, 0, 0, 178, 181, 1, 0, 0, 0, 179, 177, 1, 0, 0, 0, 180, 182, 5, 13, 0, 0, 181, 180, 1, 0, 0, 0, 181, 182, 1, 0, 0, 0, 182, 183, 1, 0, 0, 0, 183, 184, 5, 10, 0, 0, 184, 185, 1, 0, 0, 0, 185, 186, 6, 19, 0, 0, 186, 40, 1, 0, 0, 0, 187, 189, 7, 4, 0, 0, 188, 187, 1, 0, 0, 0, 189, 190, 1, 0, 0, 0, 190, 188, 1, 0, 0, 0, 190, 191, 1, 0, 0, 0, 191, 192, 1, 0, 0, 0, 192, 193, 6, 20, 0, 0, 193, 42, 1, 0, 0, 0, 12, 0, 135, 139, 145, 149, 154, 160, 167, 169, 177, 181, 190, 1, 6, 0, 0]
\ No newline at end of file
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\ No newline at end of file
diff --git a/ptml/ptmlLexer.py b/ptml/ptmlLexer.py
index 85d6411..470be04 100644
--- a/ptml/ptmlLexer.py
+++ b/ptml/ptmlLexer.py
@@ -10,75 +10,65 @@ else:
 
 def serializedATN():
     return [
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         2,6,7,6,2,7,7,7,2,8,7,8,2,9,7,9,2,10,7,10,2,11,7,11,2,12,7,12,2,
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+        1,0,0,0,7,55,1,0,0,0,9,64,1,0,0,0,11,74,1,0,0,0,13,79,1,0,0,0,15,
+        84,1,0,0,0,17,86,1,0,0,0,19,88,1,0,0,0,21,90,1,0,0,0,23,95,1,0,0,
+        0,25,101,1,0,0,0,27,119,1,0,0,0,29,139,1,0,0,0,31,141,1,0,0,0,33,
+        158,1,0,0,0,35,36,5,58,0,0,36,2,1,0,0,0,37,38,5,115,0,0,38,39,5,
+        101,0,0,39,40,5,113,0,0,40,41,5,117,0,0,41,42,5,101,0,0,42,43,5,
+        110,0,0,43,44,5,99,0,0,44,45,5,101,0,0,45,4,1,0,0,0,46,47,5,115,
+        0,0,47,48,5,101,0,0,48,49,5,108,0,0,49,50,5,101,0,0,50,51,5,99,0,
+        0,51,52,5,116,0,0,52,53,5,111,0,0,53,54,5,114,0,0,54,6,1,0,0,0,55,
+        56,5,112,0,0,56,57,5,97,0,0,57,58,5,114,0,0,58,59,5,97,0,0,59,60,
+        5,108,0,0,60,61,5,108,0,0,61,62,5,101,0,0,62,63,5,108,0,0,63,8,1,
+        0,0,0,64,65,5,100,0,0,65,66,5,101,0,0,66,67,5,99,0,0,67,68,5,111,
+        0,0,68,69,5,114,0,0,69,70,5,97,0,0,70,71,5,116,0,0,71,72,5,111,0,
+        0,72,73,5,114,0,0,73,10,1,0,0,0,74,75,5,116,0,0,75,76,5,97,0,0,76,
+        77,5,115,0,0,77,78,5,107,0,0,78,12,1,0,0,0,79,80,5,99,0,0,80,81,
+        5,111,0,0,81,82,5,110,0,0,82,83,5,100,0,0,83,14,1,0,0,0,84,85,5,
+        40,0,0,85,16,1,0,0,0,86,87,5,41,0,0,87,18,1,0,0,0,88,89,5,44,0,0,
+        89,20,1,0,0,0,90,91,5,84,0,0,91,92,5,114,0,0,92,93,5,117,0,0,93,
+        94,5,101,0,0,94,22,1,0,0,0,95,96,5,70,0,0,96,97,5,97,0,0,97,98,5,
+        108,0,0,98,99,5,115,0,0,99,100,5,101,0,0,100,24,1,0,0,0,101,105,
+        7,0,0,0,102,104,7,1,0,0,103,102,1,0,0,0,104,107,1,0,0,0,105,103,
+        1,0,0,0,105,106,1,0,0,0,106,26,1,0,0,0,107,105,1,0,0,0,108,110,5,
+        45,0,0,109,108,1,0,0,0,109,110,1,0,0,0,110,111,1,0,0,0,111,115,7,
+        2,0,0,112,114,7,3,0,0,113,112,1,0,0,0,114,117,1,0,0,0,115,113,1,
+        0,0,0,115,116,1,0,0,0,116,120,1,0,0,0,117,115,1,0,0,0,118,120,5,
+        48,0,0,119,109,1,0,0,0,119,118,1,0,0,0,120,28,1,0,0,0,121,123,7,
+        3,0,0,122,121,1,0,0,0,123,124,1,0,0,0,124,122,1,0,0,0,124,125,1,
+        0,0,0,125,126,1,0,0,0,126,130,5,46,0,0,127,129,7,3,0,0,128,127,1,
+        0,0,0,129,132,1,0,0,0,130,128,1,0,0,0,130,131,1,0,0,0,131,140,1,
+        0,0,0,132,130,1,0,0,0,133,135,5,46,0,0,134,136,7,3,0,0,135,134,1,
+        0,0,0,136,137,1,0,0,0,137,135,1,0,0,0,137,138,1,0,0,0,138,140,1,
+        0,0,0,139,122,1,0,0,0,139,133,1,0,0,0,140,30,1,0,0,0,141,142,5,47,
+        0,0,142,143,5,47,0,0,143,147,1,0,0,0,144,146,9,0,0,0,145,144,1,0,
+        0,0,146,149,1,0,0,0,147,148,1,0,0,0,147,145,1,0,0,0,148,151,1,0,
+        0,0,149,147,1,0,0,0,150,152,5,13,0,0,151,150,1,0,0,0,151,152,1,0,
+        0,0,152,153,1,0,0,0,153,154,5,10,0,0,154,155,1,0,0,0,155,156,6,15,
+        0,0,156,32,1,0,0,0,157,159,7,4,0,0,158,157,1,0,0,0,159,160,1,0,0,
+        0,160,158,1,0,0,0,160,161,1,0,0,0,161,162,1,0,0,0,162,163,6,16,0,
+        0,163,34,1,0,0,0,12,0,105,109,115,119,124,130,137,139,147,151,160,
+        1,6,0,0
     ]
 
 class ptmlLexer(Lexer):
@@ -99,15 +89,11 @@ class ptmlLexer(Lexer):
     T__9 = 10
     T__10 = 11
     T__11 = 12
-    T__12 = 13
-    T__13 = 14
-    T__14 = 15
-    T__15 = 16
-    Names = 17
-    Integer = 18
-    Float = 19
-    LINE_COMMENT = 20
-    WS = 21
+    Names = 13
+    Integer = 14
+    Float = 15
+    LINE_COMMENT = 16
+    WS = 17
 
     channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ]
 
@@ -115,16 +101,14 @@ class ptmlLexer(Lexer):
 
     literalNames = [ "<INVALID>",
             "':'", "'sequence'", "'selector'", "'parallel'", "'decorator'", 
-            "'task'", "'cond'", "'('", "')'", "','", "'int'", "'float'", 
-            "'bool'", "'string'", "'True'", "'False'" ]
+            "'task'", "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>",
             "Names", "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", "T__12", "T__13", 
-                  "T__14", "T__15", "Names", "Integer", "Float", "LINE_COMMENT", 
-                  "WS" ]
+                  "T__7", "T__8", "T__9", "T__10", "T__11", "Names", "Integer", 
+                  "Float", "LINE_COMMENT", "WS" ]
 
     grammarFileName = "ptml.g4"
 
diff --git a/ptml/ptmlLexer.tokens b/ptml/ptmlLexer.tokens
index cde89de..7e8628f 100644
--- a/ptml/ptmlLexer.tokens
+++ b/ptml/ptmlLexer.tokens
@@ -10,15 +10,11 @@ T__8=9
 T__9=10
 T__10=11
 T__11=12
-T__12=13
-T__13=14
-T__14=15
-T__15=16
-Names=17
-Integer=18
-Float=19
-LINE_COMMENT=20
-WS=21
+Names=13
+Integer=14
+Float=15
+LINE_COMMENT=16
+WS=17
 ':'=1
 'sequence'=2
 'selector'=3
@@ -29,9 +25,5 @@ WS=21
 '('=8
 ')'=9
 ','=10
-'int'=11
-'float'=12
-'bool'=13
-'string'=14
-'True'=15
-'False'=16
+'True'=11
+'False'=12
diff --git a/ptml/ptmlListener.py b/ptml/ptmlListener.py
index 1f5118b..306e4d7 100644
--- a/ptml/ptmlListener.py
+++ b/ptml/ptmlListener.py
@@ -53,24 +53,6 @@ class ptmlListener(ParseTreeListener):
         pass
 
 
-    # Enter a parse tree produced by ptmlParser#var_decls.
-    def enterVar_decls(self, ctx:ptmlParser.Var_declsContext):
-        pass
-
-    # Exit a parse tree produced by ptmlParser#var_decls.
-    def exitVar_decls(self, ctx:ptmlParser.Var_declsContext):
-        pass
-
-
-    # Enter a parse tree produced by ptmlParser#var_type.
-    def enterVar_type(self, ctx:ptmlParser.Var_typeContext):
-        pass
-
-    # Exit a parse tree produced by ptmlParser#var_type.
-    def exitVar_type(self, ctx:ptmlParser.Var_typeContext):
-        pass
-
-
     # Enter a parse tree produced by ptmlParser#boolean.
     def enterBoolean(self, ctx:ptmlParser.BooleanContext):
         pass
diff --git a/ptml/ptmlParser.py b/ptml/ptmlParser.py
index f57b639..7f81a07 100644
--- a/ptml/ptmlParser.py
+++ b/ptml/ptmlParser.py
@@ -10,30 +10,26 @@ else:
 
 def serializedATN():
     return [
-        4,1,21,72,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,2,6,7,
-        6,2,7,7,7,1,0,4,0,18,8,0,11,0,12,0,19,1,0,1,0,1,1,1,1,1,1,1,1,4,
-        1,28,8,1,11,1,12,1,29,1,2,1,2,1,2,1,2,1,2,3,2,37,8,2,1,3,1,3,1,3,
-        1,3,3,3,43,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,51,8,4,1,4,1,4,1,4,1,
-        4,1,4,3,4,58,8,4,5,4,60,8,4,10,4,12,4,63,9,4,1,5,1,5,1,5,1,6,1,6,
-        1,7,1,7,1,7,0,0,8,0,2,4,6,8,10,12,14,0,3,1,0,6,7,1,0,11,14,1,0,15,
-        16,77,0,17,1,0,0,0,2,23,1,0,0,0,4,36,1,0,0,0,6,38,1,0,0,0,8,50,1,
-        0,0,0,10,64,1,0,0,0,12,67,1,0,0,0,14,69,1,0,0,0,16,18,3,2,1,0,17,
-        16,1,0,0,0,18,19,1,0,0,0,19,17,1,0,0,0,19,20,1,0,0,0,20,21,1,0,0,
-        0,21,22,5,0,0,1,22,1,1,0,0,0,23,24,3,4,2,0,24,27,5,1,0,0,25,28,3,
-        6,3,0,26,28,3,2,1,0,27,25,1,0,0,0,27,26,1,0,0,0,28,29,1,0,0,0,29,
-        27,1,0,0,0,29,30,1,0,0,0,30,3,1,0,0,0,31,37,5,2,0,0,32,37,5,3,0,
-        0,33,34,5,4,0,0,34,37,5,18,0,0,35,37,5,5,0,0,36,31,1,0,0,0,36,32,
-        1,0,0,0,36,33,1,0,0,0,36,35,1,0,0,0,37,5,1,0,0,0,38,39,7,0,0,0,39,
-        40,5,17,0,0,40,42,5,8,0,0,41,43,3,8,4,0,42,41,1,0,0,0,42,43,1,0,
-        0,0,43,44,1,0,0,0,44,45,5,9,0,0,45,7,1,0,0,0,46,51,3,10,5,0,47,51,
-        5,18,0,0,48,51,5,19,0,0,49,51,3,14,7,0,50,46,1,0,0,0,50,47,1,0,0,
-        0,50,48,1,0,0,0,50,49,1,0,0,0,51,61,1,0,0,0,52,57,5,10,0,0,53,58,
-        3,10,5,0,54,58,5,18,0,0,55,58,5,19,0,0,56,58,3,14,7,0,57,53,1,0,
-        0,0,57,54,1,0,0,0,57,55,1,0,0,0,57,56,1,0,0,0,58,60,1,0,0,0,59,52,
-        1,0,0,0,60,63,1,0,0,0,61,59,1,0,0,0,61,62,1,0,0,0,62,9,1,0,0,0,63,
-        61,1,0,0,0,64,65,3,12,6,0,65,66,5,17,0,0,66,11,1,0,0,0,67,68,7,1,
-        0,0,68,13,1,0,0,0,69,70,7,2,0,0,70,15,1,0,0,0,8,19,27,29,36,42,50,
-        57,61
+        4,1,17,61,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
+        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,
+        1,25,1,2,1,2,1,2,1,2,1,2,3,2,33,8,2,1,3,1,3,1,3,1,3,3,3,39,8,3,1,
+        3,1,3,1,4,1,4,1,4,3,4,46,8,4,1,4,1,4,1,4,1,4,3,4,52,8,4,5,4,54,8,
+        4,10,4,12,4,57,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,10,0,2,1,0,6,7,1,
+        0,11,12,66,0,13,1,0,0,0,2,19,1,0,0,0,4,32,1,0,0,0,6,34,1,0,0,0,8,
+        45,1,0,0,0,10,58,1,0,0,0,12,14,3,2,1,0,13,12,1,0,0,0,14,15,1,0,0,
+        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,
+        0,26,3,1,0,0,0,27,33,5,2,0,0,28,33,5,3,0,0,29,30,5,4,0,0,30,33,5,
+        14,0,0,31,33,5,5,0,0,32,27,1,0,0,0,32,28,1,0,0,0,32,29,1,0,0,0,32,
+        31,1,0,0,0,33,5,1,0,0,0,34,35,7,0,0,0,35,36,5,13,0,0,36,38,5,8,0,
+        0,37,39,3,8,4,0,38,37,1,0,0,0,38,39,1,0,0,0,39,40,1,0,0,0,40,41,
+        5,9,0,0,41,7,1,0,0,0,42,46,5,14,0,0,43,46,5,15,0,0,44,46,3,10,5,
+        0,45,42,1,0,0,0,45,43,1,0,0,0,45,44,1,0,0,0,46,55,1,0,0,0,47,51,
+        5,10,0,0,48,52,5,14,0,0,49,52,5,15,0,0,50,52,3,10,5,0,51,48,1,0,
+        0,0,51,49,1,0,0,0,51,50,1,0,0,0,52,54,1,0,0,0,53,47,1,0,0,0,54,57,
+        1,0,0,0,55,53,1,0,0,0,55,56,1,0,0,0,56,9,1,0,0,0,57,55,1,0,0,0,58,
+        59,7,1,0,0,59,11,1,0,0,0,8,15,23,25,32,38,45,51,55
     ]
 
 class ptmlParser ( Parser ):
@@ -48,11 +44,9 @@ class ptmlParser ( Parser ):
 
     literalNames = [ "<INVALID>", "':'", "'sequence'", "'selector'", "'parallel'", 
                      "'decorator'", "'task'", "'cond'", "'('", "')'", "','", 
-                     "'int'", "'float'", "'bool'", "'string'", "'True'", 
-                     "'False'" ]
+                     "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
-                      "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "Names", "Integer", "Float", "LINE_COMMENT", 
@@ -63,12 +57,10 @@ class ptmlParser ( Parser ):
     RULE_internal_node = 2
     RULE_action_sign = 3
     RULE_action_parm = 4
-    RULE_var_decls = 5
-    RULE_var_type = 6
-    RULE_boolean = 7
+    RULE_boolean = 5
 
     ruleNames =  [ "root", "tree", "internal_node", "action_sign", "action_parm", 
-                   "var_decls", "var_type", "boolean" ]
+                   "boolean" ]
 
     EOF = Token.EOF
     T__0=1
@@ -83,15 +75,11 @@ class ptmlParser ( Parser ):
     T__9=10
     T__10=11
     T__11=12
-    T__12=13
-    T__13=14
-    T__14=15
-    T__15=16
-    Names=17
-    Integer=18
-    Float=19
-    LINE_COMMENT=20
-    WS=21
+    Names=13
+    Integer=14
+    Float=15
+    LINE_COMMENT=16
+    WS=17
 
     def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
         super().__init__(input, output)
@@ -140,19 +128,19 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 17 
+            self.state = 13 
             self._errHandler.sync(self)
             _la = self._input.LA(1)
             while True:
-                self.state = 16
+                self.state = 12
                 self.tree()
-                self.state = 19 
+                self.state = 15 
                 self._errHandler.sync(self)
                 _la = self._input.LA(1)
                 if not ((((_la) & ~0x3f) == 0 and ((1 << _la) & 60) != 0)):
                     break
 
-            self.state = 21
+            self.state = 17
             self.match(ptmlParser.EOF)
         except RecognitionException as re:
             localctx.exception = re
@@ -208,24 +196,24 @@ class ptmlParser ( Parser ):
         self.enterRule(localctx, 2, self.RULE_tree)
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 23
+            self.state = 19
             self.internal_node()
-            self.state = 24
+            self.state = 20
             self.match(ptmlParser.T__0)
-            self.state = 27 
+            self.state = 23 
             self._errHandler.sync(self)
             _alt = 1
             while _alt!=2 and _alt!=ATN.INVALID_ALT_NUMBER:
                 if _alt == 1:
-                    self.state = 27
+                    self.state = 23
                     self._errHandler.sync(self)
                     token = self._input.LA(1)
                     if token in [6, 7]:
-                        self.state = 25
+                        self.state = 21
                         self.action_sign()
                         pass
                     elif token in [2, 3, 4, 5]:
-                        self.state = 26
+                        self.state = 22
                         self.tree()
                         pass
                     else:
@@ -234,7 +222,7 @@ class ptmlParser ( Parser ):
 
                 else:
                     raise NoViableAltException(self)
-                self.state = 29 
+                self.state = 25 
                 self._errHandler.sync(self)
                 _alt = self._interp.adaptivePredict(self._input,2,self._ctx)
 
@@ -276,29 +264,29 @@ class ptmlParser ( Parser ):
         localctx = ptmlParser.Internal_nodeContext(self, self._ctx, self.state)
         self.enterRule(localctx, 4, self.RULE_internal_node)
         try:
-            self.state = 36
+            self.state = 32
             self._errHandler.sync(self)
             token = self._input.LA(1)
             if token in [2]:
                 self.enterOuterAlt(localctx, 1)
-                self.state = 31
+                self.state = 27
                 self.match(ptmlParser.T__1)
                 pass
             elif token in [3]:
                 self.enterOuterAlt(localctx, 2)
-                self.state = 32
+                self.state = 28
                 self.match(ptmlParser.T__2)
                 pass
             elif token in [4]:
                 self.enterOuterAlt(localctx, 3)
-                self.state = 33
+                self.state = 29
                 self.match(ptmlParser.T__3)
-                self.state = 34
+                self.state = 30
                 self.match(ptmlParser.Integer)
                 pass
             elif token in [5]:
                 self.enterOuterAlt(localctx, 4)
-                self.state = 35
+                self.state = 31
                 self.match(ptmlParser.T__4)
                 pass
             else:
@@ -348,26 +336,26 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 38
+            self.state = 34
             _la = self._input.LA(1)
             if not(_la==6 or _la==7):
                 self._errHandler.recoverInline(self)
             else:
                 self._errHandler.reportMatch(self)
                 self.consume()
-            self.state = 39
+            self.state = 35
             self.match(ptmlParser.Names)
-            self.state = 40
+            self.state = 36
             self.match(ptmlParser.T__7)
-            self.state = 42
+            self.state = 38
             self._errHandler.sync(self)
             _la = self._input.LA(1)
-            if (((_la) & ~0x3f) == 0 and ((1 << _la) & 915456) != 0):
-                self.state = 41
+            if (((_la) & ~0x3f) == 0 and ((1 << _la) & 55296) != 0):
+                self.state = 37
                 self.action_parm()
 
 
-            self.state = 44
+            self.state = 40
             self.match(ptmlParser.T__8)
         except RecognitionException as re:
             localctx.exception = re
@@ -385,13 +373,6 @@ class ptmlParser ( Parser ):
             super().__init__(parent, invokingState)
             self.parser = parser
 
-        def var_decls(self, i:int=None):
-            if i is None:
-                return self.getTypedRuleContexts(ptmlParser.Var_declsContext)
-            else:
-                return self.getTypedRuleContext(ptmlParser.Var_declsContext,i)
-
-
         def Integer(self, i:int=None):
             if i is None:
                 return self.getTokens(ptmlParser.Integer)
@@ -432,57 +413,49 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 50
+            self.state = 45
             self._errHandler.sync(self)
             token = self._input.LA(1)
-            if token in [11, 12, 13, 14]:
-                self.state = 46
-                self.var_decls()
-                pass
-            elif token in [18]:
-                self.state = 47
+            if token in [14]:
+                self.state = 42
                 self.match(ptmlParser.Integer)
                 pass
-            elif token in [19]:
-                self.state = 48
+            elif token in [15]:
+                self.state = 43
                 self.match(ptmlParser.Float)
                 pass
-            elif token in [15, 16]:
-                self.state = 49
+            elif token in [11, 12]:
+                self.state = 44
                 self.boolean()
                 pass
             else:
                 raise NoViableAltException(self)
 
-            self.state = 61
+            self.state = 55
             self._errHandler.sync(self)
             _la = self._input.LA(1)
             while _la==10:
-                self.state = 52
+                self.state = 47
                 self.match(ptmlParser.T__9)
-                self.state = 57
+                self.state = 51
                 self._errHandler.sync(self)
                 token = self._input.LA(1)
-                if token in [11, 12, 13, 14]:
-                    self.state = 53
-                    self.var_decls()
-                    pass
-                elif token in [18]:
-                    self.state = 54
+                if token in [14]:
+                    self.state = 48
                     self.match(ptmlParser.Integer)
                     pass
-                elif token in [19]:
-                    self.state = 55
+                elif token in [15]:
+                    self.state = 49
                     self.match(ptmlParser.Float)
                     pass
-                elif token in [15, 16]:
-                    self.state = 56
+                elif token in [11, 12]:
+                    self.state = 50
                     self.boolean()
                     pass
                 else:
                     raise NoViableAltException(self)
 
-                self.state = 63
+                self.state = 57
                 self._errHandler.sync(self)
                 _la = self._input.LA(1)
 
@@ -495,98 +468,6 @@ class ptmlParser ( Parser ):
         return localctx
 
 
-    class Var_declsContext(ParserRuleContext):
-        __slots__ = 'parser'
-
-        def __init__(self, parser, parent:ParserRuleContext=None, invokingState:int=-1):
-            super().__init__(parent, invokingState)
-            self.parser = parser
-
-        def var_type(self):
-            return self.getTypedRuleContext(ptmlParser.Var_typeContext,0)
-
-
-        def Names(self):
-            return self.getToken(ptmlParser.Names, 0)
-
-        def getRuleIndex(self):
-            return ptmlParser.RULE_var_decls
-
-        def enterRule(self, listener:ParseTreeListener):
-            if hasattr( listener, "enterVar_decls" ):
-                listener.enterVar_decls(self)
-
-        def exitRule(self, listener:ParseTreeListener):
-            if hasattr( listener, "exitVar_decls" ):
-                listener.exitVar_decls(self)
-
-
-
-
-    def var_decls(self):
-
-        localctx = ptmlParser.Var_declsContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 10, self.RULE_var_decls)
-        try:
-            self.enterOuterAlt(localctx, 1)
-            self.state = 64
-            self.var_type()
-            self.state = 65
-            self.match(ptmlParser.Names)
-        except RecognitionException as re:
-            localctx.exception = re
-            self._errHandler.reportError(self, re)
-            self._errHandler.recover(self, re)
-        finally:
-            self.exitRule()
-        return localctx
-
-
-    class Var_typeContext(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_var_type
-
-        def enterRule(self, listener:ParseTreeListener):
-            if hasattr( listener, "enterVar_type" ):
-                listener.enterVar_type(self)
-
-        def exitRule(self, listener:ParseTreeListener):
-            if hasattr( listener, "exitVar_type" ):
-                listener.exitVar_type(self)
-
-
-
-
-    def var_type(self):
-
-        localctx = ptmlParser.Var_typeContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 12, self.RULE_var_type)
-        self._la = 0 # Token type
-        try:
-            self.enterOuterAlt(localctx, 1)
-            self.state = 67
-            _la = self._input.LA(1)
-            if not((((_la) & ~0x3f) == 0 and ((1 << _la) & 30720) != 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
-
-
     class BooleanContext(ParserRuleContext):
         __slots__ = 'parser'
 
@@ -612,13 +493,13 @@ class ptmlParser ( Parser ):
     def boolean(self):
 
         localctx = ptmlParser.BooleanContext(self, self._ctx, self.state)
-        self.enterRule(localctx, 14, self.RULE_boolean)
+        self.enterRule(localctx, 10, self.RULE_boolean)
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 69
+            self.state = 58
             _la = self._input.LA(1)
-            if not(_la==15 or _la==16):
+            if not(_la==11 or _la==12):
                 self._errHandler.recoverInline(self)
             else:
                 self._errHandler.reportMatch(self)
diff --git a/ptml/ptmlTranslator.py b/ptml/ptmlTranslator.py
index 6d09862..be0f766 100644
--- a/ptml/ptmlTranslator.py
+++ b/ptml/ptmlTranslator.py
@@ -1,5 +1,7 @@
 import os
 import sys
+import uuid
+
 project_path = "/home/wu/RoboWaiter/ptml"
 sys.path.append(project_path)
 
@@ -41,8 +43,19 @@ class ptmlTranslator(ptmlListener):
 
     # Enter a parse tree produced by ptmlParser#internal_node.
     def enterInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
+        
+        tag = str(uuid.uuid4())
+        self.stack.append(tag)
+        
         type = str(ctx.children[0])
-        print(type)
+        if type == 'sequence':
+            self.api.newSequenceNode(tag)
+        elif type == 'selector':
+            self.api.newSelectorNode(tag)
+        elif type == 'parallel':
+            self.api.newParallelNode(tag, threshold=int(ctx.children[1]))
+        elif type == 'decorator':
+            self.api.newDecoratorNode(tag)
 
     # Exit a parse tree produced by ptmlParser#internal_node.
     def exitInternal_node(self, ctx:ptmlParser.Internal_nodeContext):
@@ -51,7 +64,20 @@ class ptmlTranslator(ptmlListener):
 
     # Enter a parse tree produced by ptmlParser#action_sign.
     def enterAction_sign(self, ctx:ptmlParser.Action_signContext):
-        pass
+        # cond / task
+        type = str(ctx.children[0])
+        name = str(ctx.Names())
+        
+        if len(ctx.children) > 4:
+            # have params
+            args = ctx.action_parm()
+        
+        if type == 'cond':
+            self.api.newBehaviourNode(name, cond=True)
+        else:
+            self.api.newBehaviourNode(name, cond=False)
+        
+    
 
     # Exit a parse tree produced by ptmlParser#action_sign.
     def exitAction_sign(self, ctx:ptmlParser.Action_signContext):