diff --git a/robowaiter/behavior_lib/act/DealChat.py b/robowaiter/behavior_lib/act/DealChat.py
index 710360e..04133d7 100644
--- a/robowaiter/behavior_lib/act/DealChat.py
+++ b/robowaiter/behavior_lib/act/DealChat.py
@@ -11,6 +11,11 @@ class DealChat(Act):
     def _update(self) -> ptree.common.Status:
         # if self.scene.status?
         chat = self.scene.state['chat_list'].pop()
+        if isinstance(chat,set):
+            self.create_sub_task(chat)
+            return ptree.common.Status.RUNNING
+
+
         self.chat_history += chat + '\n'
 
         res_dict = ask_llm(chat)
diff --git a/robowaiter/scene/interact/__init__.py b/robowaiter/scene/interact/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/robowaiter/scene/interact/non_customer.py b/robowaiter/scene/interact/non_customer.py
new file mode 100644
index 0000000..6cbd372
--- /dev/null
+++ b/robowaiter/scene/interact/non_customer.py
@@ -0,0 +1,44 @@
+"""
+人提出请求，机器人完成任务
+1. 做咖啡（固定动画）：接收到做咖啡指令、走到咖啡机、拿杯子、操作咖啡机、取杯子、送到客人桌子上
+2. 倒水
+3. 夹点心
+
+具体描述：设计一套点单规则（如菜单包含咖啡、水、点心等），按照规则拟造随机的订单。在收到订单后，通过大模型让机器人输出合理的备餐计划，并尝试在模拟环境中按照这个规划实现任务。
+
+"""
+
+# todo: 接收点单信息，大模型生成任务规划
+
+from robowaiter.scene.scene import Scene
+
+class SubScene(Scene):
+
+    def __init__(self, robot):
+        super().__init__(robot)
+        # 在这里加入场景中发生的事件
+
+    def _reset(self):
+        pass
+
+
+    def _step(self):
+        if len(self.sub_task_seq.children) == 0:
+            question = input("请输入指令：")
+            if question[-1] == ")":
+                print(f"设置目标:{question}")
+                self.set_goal(question)()
+            else:
+                self.state['chat_list'].append(question)
+
+
+
+if __name__ == '__main__':
+    from robowaiter.robot.robot import Robot
+
+    robot = Robot()
+
+    # create task
+    task = SubScene(robot)
+    task.reset()
+    task.run()
diff --git a/robowaiter/scene/scene.py b/robowaiter/scene/scene.py
index 13e20ef..54b0e09 100644
--- a/robowaiter/scene/scene.py
+++ b/robowaiter/scene/scene.py
@@ -116,6 +116,11 @@ class Scene:
 
         # reset state
         self.state = self.default_state
+
+
+
+
+
         print("场景初始化完成")
         self._reset()
 
@@ -156,6 +161,14 @@ class Scene:
 
         return customer_say
 
+    def set_goal(self,goal):
+        g = eval("{'" + goal + "'}")
+        def set_sub_task():
+            self.state['chat_list'].append(g)
+
+        return set_sub_task
+
+
     @property
     def status(self):
         return stub.Observe(GrabSim_pb2.SceneID(value=self.sceneID))
diff --git a/robowaiter/scene/tasks/Open_tasks_test.py b/robowaiter/scene/tasks/Open_tasks_test.py
index 604d569..0408d60 100644
--- a/robowaiter/scene/tasks/Open_tasks_test.py
+++ b/robowaiter/scene/tasks/Open_tasks_test.py
@@ -18,7 +18,7 @@ class SceneOT(Scene):
         super().__init__(robot)
         # 在这里加入场景中发生的事件
         self.event_list = [
-            (5, self.create_chat_event("给我一杯咖啡"))
+            (5, self.set_goal("At(Robot,Table2)"))
         ]
 
     def _reset(self):