diff --git a/toid_bt/behavior_trees/behavior1.xml b/toid_bt/behavior_trees/behavior1.xml
index 66f3171..0291580 100644
--- a/toid_bt/behavior_trees/behavior1.xml
+++ b/toid_bt/behavior_trees/behavior1.xml
@@ -115,6 +115,12 @@
                            max_speed="0.400000"
                            backwards="true"
                            action_name=""/>
+          <MovePointSimple x="1.330"
+                           y="-0.52"
+                           theta="-90"
+                           max_speed="0.000000"
+                           backwards="false"
+                           action_name=""/>
           <Seq1 service_name=""/>
           <ParallelAll max_failures="1">
             <Seq2 text=""
@@ -137,8 +143,26 @@
                                max_speed="0.400000"
                                backwards="true"
                                action_name=""/>
+              <MovePointSimple x="1.37"
+                               y="0.48"
+                               theta="-70"
+                               max_speed="0.400000"
+                               backwards="true"
+                               action_name=""/>
             </Sequence>
           </Parallel>
+          <RotateTowards x="1.003"
+                         y="-0.029"
+                         backwards="false"
+                         max_speed="1.300000"
+                         min_angle="0.000000"
+                         action_name=""/>
+          <MovePointSimple x="1.003"
+                           y="-0.029"
+                           theta="-90"
+                           max_speed="0.400000"
+                           backwards="false"
+                           action_name=""/>
         </Sequence>
       </Timeout>
     </Sequence>