diff --git a/robowaiter/behavior_tree/ptml/ptml.g4 b/robowaiter/behavior_tree/ptml/ptml.g4
index 24f0c03..8e2db82 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     : ('act'|'cond') String '(' action_parm? ')';
+action_sign     : 'not'? ('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' ;
diff --git a/robowaiter/behavior_tree/ptml/ptml.interp b/robowaiter/behavior_tree/ptml/ptml.interp
index 4edd60b..8615e1d 100644
--- a/robowaiter/behavior_tree/ptml/ptml.interp
+++ b/robowaiter/behavior_tree/ptml/ptml.interp
@@ -5,6 +5,7 @@ null
 'sequence'
 'selector'
 'parallel'
+'not'
 'act'
 'cond'
 '('
@@ -32,6 +33,7 @@ null
 null
 null
 null
+null
 String
 Integer
 Float
@@ -48,4 +50,4 @@ boolean
 
 
 atn:
-[4, 1, 17, 65, 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, 1, 3, 1, 3, 3, 3, 41, 8, 3, 1, 3, 1, 3, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 49, 8, 4, 1, 4, 1, 4, 1, 4, 1, 4, 1, 4, 3, 4, 56, 8, 4, 5, 4, 58, 8, 4, 10, 4, 12, 4, 61, 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, 71, 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, 48, 1, 0, 0, 0, 10, 62, 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, 14, 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, 37, 7, 0, 0, 0, 37, 38, 5, 13, 0, 0, 38, 40, 5, 8, 0, 0, 39, 41, 3, 8, 4, 0, 40, 39, 1, 0, 0, 0, 40, 41, 1, 0, 0, 0, 41, 42, 1, 0, 0, 0, 42, 43, 5, 9, 0, 0, 43, 7, 1, 0, 0, 0, 44, 49, 5, 14, 0, 0, 45, 49, 5, 15, 0, 0, 46, 49, 3, 10, 5, 0, 47, 49, 5, 13, 0, 0, 48, 44, 1, 0, 0, 0, 48, 45, 1, 0, 0, 0, 48, 46, 1, 0, 0, 0, 48, 47, 1, 0, 0, 0, 49, 59, 1, 0, 0, 0, 50, 55, 5, 10, 0, 0, 51, 56, 5, 14, 0, 0, 52, 56, 5, 15, 0, 0, 53, 56, 3, 10, 5, 0, 54, 56, 5, 13, 0, 0, 55, 51, 1, 0, 0, 0, 55, 52, 1, 0, 0, 0, 55, 53, 1, 0, 0, 0, 55, 54, 1, 0, 0, 0, 56, 58, 1, 0, 0, 0, 57, 50, 1, 0, 0, 0, 58, 61, 1, 0, 0, 0, 59, 57, 1, 0, 0, 0, 59, 60, 1, 0, 0, 0, 60, 9, 1, 0, 0, 0, 61, 59, 1, 0, 0, 0, 62, 63, 7, 1, 0, 0, 63, 11, 1, 0, 0, 0, 8, 15, 23, 25, 34, 40, 48, 55, 59]
\ 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, 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
diff --git a/robowaiter/behavior_tree/ptml/ptml.tokens b/robowaiter/behavior_tree/ptml/ptml.tokens
index 6f604be..e6d0e71 100644
--- a/robowaiter/behavior_tree/ptml/ptml.tokens
+++ b/robowaiter/behavior_tree/ptml/ptml.tokens
@@ -10,20 +10,22 @@ T__8=9
 T__9=10
 T__10=11
 T__11=12
-String=13
-Integer=14
-Float=15
-LINE_COMMENT=16
-WS=17
+T__12=13
+String=14
+Integer=15
+Float=16
+LINE_COMMENT=17
+WS=18
 '{'=1
 '}'=2
 'sequence'=3
 'selector'=4
 'parallel'=5
-'act'=6
-'cond'=7
-'('=8
-')'=9
-','=10
-'True'=11
-'False'=12
+'not'=6
+'act'=7
+'cond'=8
+'('=9
+')'=10
+','=11
+'True'=12
+'False'=13
diff --git a/robowaiter/behavior_tree/ptml/ptmlLexer.interp b/robowaiter/behavior_tree/ptml/ptmlLexer.interp
index a624c96..983d4a8 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.interp
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.interp
@@ -5,6 +5,7 @@ null
 'sequence'
 'selector'
 'parallel'
+'not'
 'act'
 'cond'
 '('
@@ -32,6 +33,7 @@ null
 null
 null
 null
+null
 String
 Integer
 Float
@@ -51,6 +53,7 @@ T__8
 T__9
 T__10
 T__11
+T__12
 String
 Integer
 Float
@@ -65,4 +68,4 @@ mode names:
 DEFAULT_MODE
 
 atn:
-[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, 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]
\ No newline at end of file
+[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, 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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, 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, 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 0cee05f..6bd416c 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.py
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.py
@@ -10,61 +10,64 @@ 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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-        1,11,1,11,1,11,1,11,1,12,1,12,5,12,95,8,12,10,12,12,12,98,9,12,1,
-        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,
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+        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
     ]
 
 class ptmlLexer(Lexer):
@@ -85,26 +88,27 @@ class ptmlLexer(Lexer):
     T__9 = 10
     T__10 = 11
     T__11 = 12
-    String = 13
-    Integer = 14
-    Float = 15
-    LINE_COMMENT = 16
-    WS = 17
+    T__12 = 13
+    String = 14
+    Integer = 15
+    Float = 16
+    LINE_COMMENT = 17
+    WS = 18
 
     channelNames = [ u"DEFAULT_TOKEN_CHANNEL", u"HIDDEN" ]
 
     modeNames = [ "DEFAULT_MODE" ]
 
     literalNames = [ "<INVALID>",
-            "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'act'", 
-            "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
+            "'{'", "'}'", "'sequence'", "'selector'", "'parallel'", "'not'", 
+            "'act'", "'cond'", "'('", "')'", "','", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>",
             "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", "String", "Integer", 
-                  "Float", "LINE_COMMENT", "WS" ]
+                  "T__7", "T__8", "T__9", "T__10", "T__11", "T__12", "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 6f604be..e6d0e71 100644
--- a/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
+++ b/robowaiter/behavior_tree/ptml/ptmlLexer.tokens
@@ -10,20 +10,22 @@ T__8=9
 T__9=10
 T__10=11
 T__11=12
-String=13
-Integer=14
-Float=15
-LINE_COMMENT=16
-WS=17
+T__12=13
+String=14
+Integer=15
+Float=16
+LINE_COMMENT=17
+WS=18
 '{'=1
 '}'=2
 'sequence'=3
 'selector'=4
 'parallel'=5
-'act'=6
-'cond'=7
-'('=8
-')'=9
-','=10
-'True'=11
-'False'=12
+'not'=6
+'act'=7
+'cond'=8
+'('=9
+')'=10
+','=11
+'True'=12
+'False'=13
diff --git a/robowaiter/behavior_tree/ptml/ptmlParser.py b/robowaiter/behavior_tree/ptml/ptmlParser.py
index a3dd2d4..ff36a98 100644
--- a/robowaiter/behavior_tree/ptml/ptmlParser.py
+++ b/robowaiter/behavior_tree/ptml/ptmlParser.py
@@ -10,28 +10,29 @@ else:
 
 def serializedATN():
     return [
-        4,1,17,65,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
+        4,1,18,68,2,0,7,0,2,1,7,1,2,2,7,2,2,3,7,3,2,4,7,4,2,5,7,5,1,0,4,
         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,
-        1,27,9,1,1,1,1,1,1,2,1,2,1,2,1,2,3,2,35,8,2,1,3,1,3,1,3,1,3,3,3,
-        41,8,3,1,3,1,3,1,4,1,4,1,4,1,4,3,4,49,8,4,1,4,1,4,1,4,1,4,1,4,3,
-        4,56,8,4,5,4,58,8,4,10,4,12,4,61,9,4,1,5,1,5,1,5,0,0,6,0,2,4,6,8,
-        10,0,2,1,0,6,7,1,0,11,12,71,0,13,1,0,0,0,2,19,1,0,0,0,4,34,1,0,0,
-        0,6,36,1,0,0,0,8,48,1,0,0,0,10,62,1,0,0,0,12,14,3,2,1,0,13,12,1,
-        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,
-        29,3,1,0,0,0,30,35,5,3,0,0,31,35,5,4,0,0,32,33,5,5,0,0,33,35,5,14,
-        0,0,34,30,1,0,0,0,34,31,1,0,0,0,34,32,1,0,0,0,35,5,1,0,0,0,36,37,
-        7,0,0,0,37,38,5,13,0,0,38,40,5,8,0,0,39,41,3,8,4,0,40,39,1,0,0,0,
-        40,41,1,0,0,0,41,42,1,0,0,0,42,43,5,9,0,0,43,7,1,0,0,0,44,49,5,14,
-        0,0,45,49,5,15,0,0,46,49,3,10,5,0,47,49,5,13,0,0,48,44,1,0,0,0,48,
-        45,1,0,0,0,48,46,1,0,0,0,48,47,1,0,0,0,49,59,1,0,0,0,50,55,5,10,
-        0,0,51,56,5,14,0,0,52,56,5,15,0,0,53,56,3,10,5,0,54,56,5,13,0,0,
-        55,51,1,0,0,0,55,52,1,0,0,0,55,53,1,0,0,0,55,54,1,0,0,0,56,58,1,
-        0,0,0,57,50,1,0,0,0,58,61,1,0,0,0,59,57,1,0,0,0,59,60,1,0,0,0,60,
-        9,1,0,0,0,61,59,1,0,0,0,62,63,7,1,0,0,63,11,1,0,0,0,8,15,23,25,34,
-        40,48,55,59
+        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
     ]
 
 class ptmlParser ( Parser ):
@@ -45,14 +46,14 @@ class ptmlParser ( Parser ):
     sharedContextCache = PredictionContextCache()
 
     literalNames = [ "<INVALID>", "'{'", "'}'", "'sequence'", "'selector'", 
-                     "'parallel'", "'act'", "'cond'", "'('", "')'", "','", 
-                     "'True'", "'False'" ]
+                     "'parallel'", "'not'", "'act'", "'cond'", "'('", "')'", 
+                     "','", "'True'", "'False'" ]
 
     symbolicNames = [ "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
                       "<INVALID>", "<INVALID>", "<INVALID>", "<INVALID>", 
-                      "<INVALID>", "String", "Integer", "Float", "LINE_COMMENT", 
-                      "WS" ]
+                      "<INVALID>", "<INVALID>", "String", "Integer", "Float", 
+                      "LINE_COMMENT", "WS" ]
 
     RULE_root = 0
     RULE_tree = 1
@@ -77,11 +78,12 @@ class ptmlParser ( Parser ):
     T__9=10
     T__10=11
     T__11=12
-    String=13
-    Integer=14
-    Float=15
-    LINE_COMMENT=16
-    WS=17
+    T__12=13
+    String=14
+    Integer=15
+    Float=16
+    LINE_COMMENT=17
+    WS=18
 
     def __init__(self, input:TokenStream, output:TextIO = sys.stdout):
         super().__init__(input, output)
@@ -206,11 +208,11 @@ class ptmlParser ( Parser ):
             self.state = 25
             self._errHandler.sync(self)
             _la = self._input.LA(1)
-            while (((_la) & ~0x3f) == 0 and ((1 << _la) & 248) != 0):
+            while (((_la) & ~0x3f) == 0 and ((1 << _la) & 504) != 0):
                 self.state = 23
                 self._errHandler.sync(self)
                 token = self._input.LA(1)
-                if token in [6, 7]:
+                if token in [6, 7, 8]:
                     self.state = 21
                     self.action_sign()
                     pass
@@ -332,27 +334,35 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 36
+            self.state = 37
+            self._errHandler.sync(self)
             _la = self._input.LA(1)
-            if not(_la==6 or _la==7):
+            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):
                 self._errHandler.recoverInline(self)
             else:
                 self._errHandler.reportMatch(self)
                 self.consume()
-            self.state = 37
-            self.match(ptmlParser.String)
-            self.state = 38
-            self.match(ptmlParser.T__7)
             self.state = 40
+            self.match(ptmlParser.String)
+            self.state = 41
+            self.match(ptmlParser.T__8)
+            self.state = 43
             self._errHandler.sync(self)
             _la = self._input.LA(1)
-            if (((_la) & ~0x3f) == 0 and ((1 << _la) & 63488) != 0):
-                self.state = 39
+            if (((_la) & ~0x3f) == 0 and ((1 << _la) & 126976) != 0):
+                self.state = 42
                 self.action_parm()
 
 
-            self.state = 42
-            self.match(ptmlParser.T__8)
+            self.state = 45
+            self.match(ptmlParser.T__9)
         except RecognitionException as re:
             localctx.exception = re
             self._errHandler.reportError(self, re)
@@ -415,57 +425,57 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 48
+            self.state = 51
             self._errHandler.sync(self)
             token = self._input.LA(1)
-            if token in [14]:
-                self.state = 44
+            if token in [15]:
+                self.state = 47
                 self.match(ptmlParser.Integer)
                 pass
-            elif token in [15]:
-                self.state = 45
+            elif token in [16]:
+                self.state = 48
                 self.match(ptmlParser.Float)
                 pass
-            elif token in [11, 12]:
-                self.state = 46
+            elif token in [12, 13]:
+                self.state = 49
                 self.boolean()
                 pass
-            elif token in [13]:
-                self.state = 47
+            elif token in [14]:
+                self.state = 50
                 self.match(ptmlParser.String)
                 pass
             else:
                 raise NoViableAltException(self)
 
-            self.state = 59
+            self.state = 62
             self._errHandler.sync(self)
             _la = self._input.LA(1)
-            while _la==10:
-                self.state = 50
-                self.match(ptmlParser.T__9)
-                self.state = 55
+            while _la==11:
+                self.state = 53
+                self.match(ptmlParser.T__10)
+                self.state = 58
                 self._errHandler.sync(self)
                 token = self._input.LA(1)
-                if token in [14]:
-                    self.state = 51
+                if token in [15]:
+                    self.state = 54
                     self.match(ptmlParser.Integer)
                     pass
-                elif token in [15]:
-                    self.state = 52
+                elif token in [16]:
+                    self.state = 55
                     self.match(ptmlParser.Float)
                     pass
-                elif token in [11, 12]:
-                    self.state = 53
+                elif token in [12, 13]:
+                    self.state = 56
                     self.boolean()
                     pass
-                elif token in [13]:
-                    self.state = 54
+                elif token in [14]:
+                    self.state = 57
                     self.match(ptmlParser.String)
                     pass
                 else:
                     raise NoViableAltException(self)
 
-                self.state = 61
+                self.state = 64
                 self._errHandler.sync(self)
                 _la = self._input.LA(1)
 
@@ -507,9 +517,9 @@ class ptmlParser ( Parser ):
         self._la = 0 # Token type
         try:
             self.enterOuterAlt(localctx, 1)
-            self.state = 62
+            self.state = 65
             _la = self._input.LA(1)
-            if not(_la==11 or _la==12):
+            if not(_la==12 or _la==13):
                 self._errHandler.recoverInline(self)
             else:
                 self._errHandler.reportMatch(self)
diff --git a/robowaiter/behavior_tree/ptml/ptmlTranslator.py b/robowaiter/behavior_tree/ptml/ptmlTranslator.py
index d2c0944..8f535c0 100644
--- a/robowaiter/behavior_tree/ptml/ptmlTranslator.py
+++ b/robowaiter/behavior_tree/ptml/ptmlTranslator.py
@@ -80,7 +80,8 @@ class ptmlTranslator(ptmlListener):
 
         # if have params
         args = []
-        if len(ctx.children) > 4:
+        # if str(ctx.children[0]) != 'not' and len(ctx.children) > 4:
+        if ctx.action_parm():
             params = ctx.action_parm()
             for i in params.children:
                 if isinstance(i, ptmlParser.BooleanContext):
@@ -96,8 +97,15 @@ class ptmlTranslator(ptmlListener):
 
         node = eval(f"{name}({args})")
         node.set_scene(self.scene)
-        # connect
-        self.stack[-1].add_child(node)
+
+        # if have 'not' decorator
+        if str(ctx.children[0]) == 'not':
+            upper_node = ptree.decorators.Inverter(node)
+            # connect
+            self.stack[-1].add_child(upper_node)
+        else:
+            # connect
+            self.stack[-1].add_child(node)
 
     # Exit a parse tree produced by ptmlParser#action_sign.
     def exitAction_sign(self, ctx: ptmlParser.Action_signContext):