diff --git a/core/include/dsr/core/types/type_checking/dsr_attr_name.h b/core/include/dsr/core/types/type_checking/dsr_attr_name.h
index fb6882c..c2ad416 100644
--- a/core/include/dsr/core/types/type_checking/dsr_attr_name.h
+++ b/core/include/dsr/core/types/type_checking/dsr_attr_name.h
@@ -437,6 +437,7 @@ REGISTER_TYPE(offset_xyz, std::reference_wrapper<const std::vector<float>>, fals
 REGISTER_TYPE(orientation, std::reference_wrapper<const std::vector<float>>, false) /* 3-vector Orientation for the offset */
 REGISTER_TYPE(tolerance, std::reference_wrapper<const std::vector<float>>, false)  /* 6-vector Tolerance for the offset and orientation*/
 REGISTER_TYPE(subsystem, std::string, false) /* Subsystem that will execute the intention {base, arm_0, head}*/
+REGISTER_TYPE(bt_state, std::string, false) /* Subsystem that will execute the intention {base, arm_0, head}*/
 
 
 /* TESTS
diff --git a/core/include/dsr/core/types/type_checking/dsr_edge_type.h b/core/include/dsr/core/types/type_checking/dsr_edge_type.h
index 08f3dde..bf937af 100644
--- a/core/include/dsr/core/types/type_checking/dsr_edge_type.h
+++ b/core/include/dsr/core/types/type_checking/dsr_edge_type.h
@@ -59,5 +59,6 @@ REGISTER_EDGE_TYPE(collision)
 REGISTER_EDGE_TYPE(TARGET)
 REGISTER_EDGE_TYPE(testtype_e)
 REGISTER_EDGE_TYPE(current)
+REGISTER_EDGE_TYPE(exit)
 
 #endif //DSR_EDGE_TYPE_H
diff --git a/core/include/dsr/core/types/type_checking/dsr_node_type.h b/core/include/dsr/core/types/type_checking/dsr_node_type.h
index 308f74a..50e112a 100644
--- a/core/include/dsr/core/types/type_checking/dsr_node_type.h
+++ b/core/include/dsr/core/types/type_checking/dsr_node_type.h
@@ -47,6 +47,7 @@ REGISTER_NODE_TYPE(imu)
 REGISTER_NODE_TYPE(slam_device)
 REGISTER_NODE_TYPE(object)
 REGISTER_NODE_TYPE(affordance_space)
+REGISTER_NODE_TYPE(affordance)
 REGISTER_NODE_TYPE(person)
 REGISTER_NODE_TYPE(personal_space)
 REGISTER_NODE_TYPE(plane)