diff --git a/toid_bt/behavior_trees/behavior1.xml b/toid_bt/behavior_trees/behavior1.xml
index 0c0d1b5..66f3171 100644
--- a/toid_bt/behavior_trees/behavior1.xml
+++ b/toid_bt/behavior_trees/behavior1.xml
@@ -59,16 +59,22 @@
   <BehaviorTree ID="seq2">
     <Sequence>
       <ZeroOdom service_name=""/>
-      <SetInitialPose y="0.806"
+      <SetInitialPose y="0.955"
                       theta="-90"
                       frame_id="map"
-                      x="1.328"
+                      x="1.330"
                       topic_name="__default__placeholder__"/>
+      <MovePointSimple x="1.330"
+                       y="0.805"
+                       theta="-90"
+                       max_speed="0.300000"
+                       backwards="false"
+                       action_name=""/>
       <WaitPullPin action_name=""/>
       <Timeout msec="100000">
         <Sequence>
           <InPose timeout="1.000000">
-            <MovePointSimple x="1.328"
+            <MovePointSimple x="1.33"
                              y="0.354"
                              theta="-90"
                              max_speed="0.300000"
@@ -95,7 +101,7 @@
               <TranslateX x="-0.3"
                           max_speed="0.000000"
                           action_name=""/>
-              <RotateTowards x="1.328"
+              <RotateTowards x="1.33"
                              y="0.354"
                              backwards="true"
                              max_speed="2.000000"
@@ -103,7 +109,7 @@
                              action_name=""/>
             </Sequence>
           </Parallel>
-          <MovePointSimple x="1.328"
+          <MovePointSimple x="1.330"
                            y="0.354"
                            theta="-90"
                            max_speed="0.400000"
@@ -113,7 +119,7 @@
           <ParallelAll max_failures="1">
             <Seq2 text=""
                   service_name=""/>
-            <MovePointSimple x="1.328"
+            <MovePointSimple x="1.33"
                              y="-0.2"
                              theta="-90"
                              max_speed="0.200000"
@@ -125,7 +131,7 @@
             <Seq3 service_name=""/>
             <Sequence>
               <Sleep msec="500"/>
-              <MovePointSimple x="1.328"
+              <MovePointSimple x="1.33"
                                y="0.354"
                                theta="-90"
                                max_speed="0.400000"
@@ -138,6 +144,94 @@
     </Sequence>
   </BehaviorTree>
 
+  <BehaviorTree ID="seq2_yellow">
+    <Sequence>
+      <ZeroOdom service_name=""/>
+      <SetInitialPose y="0.806"
+                      theta="-90"
+                      frame_id="map"
+                      x="-1.328"
+                      topic_name="__default__placeholder__"/>
+      <WaitPullPin action_name=""/>
+      <Timeout msec="100000">
+        <Sequence>
+          <InPose timeout="1.000000">
+            <MovePointSimple x="-1.328"
+                             y="0.354"
+                             theta="-90"
+                             max_speed="0.300000"
+                             backwards="false"
+                             action_name=""/>
+          </InPose>
+          <Seq1 service_name=""/>
+          <Parallel failure_count="1"
+                    success_count="-1">
+            <Seq2 text=""
+                  service_name=""/>
+            <MovePointSimple x="-0.795"
+                             y="-0.2"
+                             theta="0"
+                             max_speed="0.500000"
+                             backwards="false"
+                             action_name=""/>
+          </Parallel>
+          <Parallel failure_count="1"
+                    success_count="-1">
+            <Seq3 service_name=""/>
+            <Sequence>
+              <Sleep msec="500"/>
+              <TranslateX x="-0.3"
+                          max_speed="0.000000"
+                          action_name=""/>
+              <RotateTowards x="-1.328"
+                             y="0.354"
+                             backwards="true"
+                             max_speed="2.000000"
+                             min_angle="0.000000"
+                             action_name=""/>
+            </Sequence>
+          </Parallel>
+          <MovePointSimple x="-1.328"
+                           y="0.354"
+                           theta="-90"
+                           max_speed="0.400000"
+                           backwards="true"
+                           action_name=""/>
+          <Seq1 service_name=""/>
+          <ParallelAll max_failures="1">
+            <Seq2 text=""
+                  service_name=""/>
+            <MovePointSimple x="-1.328"
+                             y="-0.2"
+                             theta="-90"
+                             max_speed="0.200000"
+                             backwards="false"
+                             action_name=""/>
+          </ParallelAll>
+          <Parallel failure_count="1"
+                    success_count="-1">
+            <Seq3 service_name=""/>
+            <Sequence>
+              <Sleep msec="500"/>
+              <MovePointSimple x="-1.328"
+                               y="0.354"
+                               theta="-90"
+                               max_speed="0.400000"
+                               backwards="true"
+                               action_name=""/>
+            </Sequence>
+          </Parallel>
+          <MovePointSimple x="-1.328"
+                           y="0.806"
+                           theta="-90"
+                           max_speed="0.400000"
+                           backwards="true"
+                           action_name=""/>
+        </Sequence>
+      </Timeout>
+    </Sequence>
+  </BehaviorTree>
+
   <BehaviorTree ID="test_1">
     <Sequence>
       <DetectStuck timeout="1.000000">