diff --git a/src/xml/bt_definitions.xml b/src/xml/bt_definitions.xml
index 8a1cdd15abac17e8f75c0047e8ec7086d1164169..dc304701c28637c6deb40255fed6d3827e2d4679 100644
--- a/src/xml/bt_definitions.xml
+++ b/src/xml/bt_definitions.xml
@@ -5,6 +5,16 @@
     </BehaviorTree>
     <!-- ////////// -->
     <TreeNodesModel>
+        <!-- basic_nodes -->
+        <Action ID="NOP"/>
+        <Action ID="is_not_start_tree"/>
+        <Condition ID="async_is_start_tree"/>
+        <Action ID="is_not_stop_tree"/>
+        <Condition ID="async_is_stop_tree"/>
+        <Action ID="set_start_tree"/>
+        <Action ID="set_stop_tree"/>
+        <Action ID="reset_start_tree"/>
+        <Action ID="reset_stop_tree"/>
         <!-- tiago_arm_module -->
         <Action ID="sync_cancel_tiago_arm_action"/>
         <Action ID="async_cancel_tiago_arm_action"/>
@@ -148,6 +158,18 @@
         <Condition ID="is_tiago_arm_module_preempted"/>
         <Condition ID="is_tiago_arm_module_rejected"/>
         <Condition ID="is_tiago_arm_module_no_joint_states"/>
+        <!-- Client -->
+        <Action ID="set_tiago_arm_move_to_joints_input">
+            <output_port name="target_joints"> The target JointState</output_port>
+            <output_port name="joint_tol"> Joints tolerance</output_port>
+            <output_port name="new_goal"> If it's a new_goal (Only used by async_move_to function)</output_port>
+        </Action>
+        <Action ID="set_tiago_arm_move_to_pose_input">
+            <output_port name="pose"> The target pose</output_port>
+            <output_port name="position_tol"> Joints postion tolerance</output_port>
+            <output_port name="orientation_tol"> Joints orientation tolerance</output_port>
+            <output_port name="new_goal"> If it's a new_goal (Only used by async_move_to function)</output_port>
+        </Action>
     </TreeNodesModel>
     <!-- ////////// -->
 </root>