diff --git a/src/xml/bt_test.xml b/src/xml/bt_test.xml
index 3dd27fac62ec007d8870eefbaf2dd66dde696d0e..1d2fd12c2f7508265e1215808ff62c313dc211be 100644
--- a/src/xml/bt_test.xml
+++ b/src/xml/bt_test.xml
@@ -24,6 +24,17 @@
     </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"/>
+        <!-- gripper module -->
         <Action ID="sync_cancel_tiago_gripper_action"/>
         <Action ID="async_cancel_tiago_gripper_action"/>
         <Action ID="async_is_tiago_gripper_finished"/>
@@ -86,10 +97,7 @@
         <Condition ID="is_tiago_gripper_module_preempted"/>
         <Condition ID="is_tiago_gripper_module_rejected"/>
         <Condition ID="is_tiago_gripper_module_failed_grasp"/>
-        <SubTree ID="set_base_frame_black_board"/>
-        <SubTree ID="set_point_to_blackboard"/>
-        <SubTree ID="set_tol_blackboard"/>
-        <SubTree ID="set_urdf_param_blackboard"/>
+        <SubTree ID="set_fingers_pos_blackboard"/>
     </TreeNodesModel>
     <!-- ////////// -->
 </root>