diff --git a/server/gameserver/new_hero_agent.cc b/server/gameserver/new_hero_agent.cc
index 25098e84..cb35fde1 100644
--- a/server/gameserver/new_hero_agent.cc
+++ b/server/gameserver/new_hero_agent.cc
@@ -344,37 +344,205 @@ behaviac::EBTStatus HeroAgent::CoIdle(int min_val, int max_val)
 
 behaviac::EBTStatus HeroAgent::CoMoveCurrentTargetRaycast()
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoMoveCurrentTargetRaycast");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 behaviac::EBTStatus HeroAgent::CoShotCurrentTargetRaycast()
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoShotCurrentTargetRaycast");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 behaviac::EBTStatus HeroAgent::CoMoveMasterRaycast()
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoMoveMasterRaycast");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 behaviac::EBTStatus HeroAgent::CoFindPath(const glm::vec3& pos)
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoFindPath");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 behaviac::EBTStatus HeroAgent::CoFindPathEx(const glm::vec3& pos, float distance)
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoFindPathEx");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 behaviac::EBTStatus HeroAgent::CoStartMove(float distance)
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoStartMove");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 behaviac::EBTStatus HeroAgent::CoSleep(int time)
 {
-    abort();
+    if (status_ == behaviac::BT_RUNNING) {
+        return DoRunningCb();
+    }
+    auto context = MAKE_BTCONTEXT
+        (
+         a8::XTimerWp timer_ptr;
+         );
+    context->timer_ptr = owner_->room->xtimer.SetTimeoutWpEx
+        (
+         1000 / FRAME_RATE_MS,
+         [] (int event, const a8::Args* args)
+         {
+         },
+         &owner_->xtimer_attacher);
+    auto co = std::make_shared<BtCoroutine>(context, "CoSleep");
+    co->runing_cb =
+        [this, context] ()
+         {
+             if (!context->timer_ptr.expired()) {
+                 return behaviac::BT_RUNNING;
+             } else {
+                 return behaviac::BT_SUCCESS;
+             }
+         };
+    return StartCoroutine(co);
 }
 
 Room* HeroAgent::GetRoom()