diff --git a/src/brain/config/bt_carry_boxes_sch1.params.yaml b/src/brain/config/bt_carry_boxes_sch1.params.yaml
index b996a44..9296d1e 100644
--- a/src/brain/config/bt_carry_boxes_sch1.params.yaml
+++ b/src/brain/config/bt_carry_boxes_sch1.params.yaml
@@ -5,6 +5,10 @@
 - name: retry_all_action
   params: '{}
 
+    '
+- name: s0_motion_move_home
+  params: '
+
     '
 - name: s1_arm_move_origin_position
   params: 'body_id: 0
diff --git a/src/brain/config/bt_carry_boxes_sch1.xml b/src/brain/config/bt_carry_boxes_sch1.xml
index f9e42bf..ed9a05b 100644
--- a/src/brain/config/bt_carry_boxes_sch1.xml
+++ b/src/brain/config/bt_carry_boxes_sch1.xml
@@ -4,6 +4,7 @@
       <!-- Retry waist + arm + hand until HandControl_H succeeds -->
       <RetryUntilSuccessful name="retry_all_action" num_attempts="5">
         <Sequence>
+          <!-- <MoveHome_H name="s0_motion_move_home" /> -->
           <!-- <Arm_H name="s1_arm_move_origin_position" /> -->
           <Arm_H name="s2_arm_move_to_snapshot_pose" />
           <MoveWheel_H name="s3_wheel_move_to_pickup_position" />
diff --git a/src/brain/src/cerebrum_node.cpp b/src/brain/src/cerebrum_node.cpp
index 9404a75..b836a2f 100644
--- a/src/brain/src/cerebrum_node.cpp
+++ b/src/brain/src/cerebrum_node.cpp
@@ -584,8 +584,8 @@ bool CerebrumNode::UpdateBtActionParamsForSkillInstance(
     const std::string & instance_name, 
     const std::string & instance_params)
 {
-  if (skill_name.empty() || instance_name.empty() || instance_params.empty()) {
-    RCLCPP_ERROR(this->get_logger(), "Update BtAction Params ForSkillInstance called with empty skill_name, instance_name, or instance_params");
+  if (skill_name.empty() || instance_name.empty()) {
+    RCLCPP_ERROR(this->get_logger(), "Update BtAction Params ForSkillInstance called with empty skill_name, instance_name");
     return false;
   }
     // Per-instance namespace: cerebrum.bt.<Skill>.<Instance>.*
@@ -625,8 +625,8 @@ bool CerebrumNode::DeclareBtActionParamsForSkillInstance(
   }
 
   if (current_bt_config_params_path_.param.empty()) {
-    RCLCPP_ERROR(this->get_logger(), "BT params file path is empty; cannot load sample params");
-    return false;
+    RCLCPP_ERROR(this->get_logger(), "BT params file path is empty");
+    // return false;  //move home no params
   }
 
   RCLCPP_INFO(this->get_logger(), "Declaring BT action parameters for skill_name=%s, instance_name=%s",