diff --git a/include/action_id.h b/include/action_id.h
index 10c36280ec7962672eb397fab14b03b0e67b370f..4a69045943d131bddca4711d47c5f20e02f3b007 100644
--- a/include/action_id.h
+++ b/include/action_id.h
@@ -5,141 +5,34 @@
extern "C" {
#endif
-#define BOW 1
-#define BRAVO 2
-#define RAP_CHEST 5
-#define SCRATCH_HEAD 8
-#define HAND_STANDING 11
-#define R_BLOCKING 14
-#define L_BLOCKING 16
-#define L_KICK 18
-#define R_KICK 19
-#define R_ATTACK 20
-#define L_ATTACK 21
-#define F_ATTACK 22
-#define DEFENCE 23
-#define SIT_DOWN 25
-#define STAND_UP 26
-#define F_GET_UP 27
-#define B_GET_UP 28
-#define CLAP_READY 29
-#define CLAPPING 30
-#define WALK_READY 31
-/* forward step */
-#define F_S_L 32
-#define F_S_R 34
-#define F_M_L 36
-#define F_M_R 38
-#define F_E_L 40
-#define F_E_R 42
-/* backward step */
-#define B_S_L 44
-#define B_S_R 46
-#define B_M_L 48
-#define B_M_R 50
-#define B_E_L 52
-#define B_E_R 54
-/* left turn step */
-#define LT_S_L 56
-#define LT_S_R 58
-#define LT_M_L 60
-#define LT_M_R 62
-#define LT_E_L 64
-#define LT_E_R 66
-/* right turn step */
-#define RT_S_L 68
-#define RT_S_R 70
-#define RT_M_L 72
-#define RT_M_R 74
-#define RT_E_L 76
-#define RT_E_R 78
-/* left step */
-#define L_S_L 80
-#define L_S_R 82
-#define L_M_L 84
-#define L_M_R 86
-#define L_E_L 88
-#define L_E_R 90
-/* right step */
-#define R_S_L 92
-#define R_S_R 94
-#define R_M_L 96
-#define R_M_R 98
-#define R_E_L 100
-#define R_E_R 102
-/* forward left turn step */
-#define FLT_S_L 104
-#define FLT_S_R 106
-#define FLT_M_L 108
-#define FLT_M_R 110
-#define FLT_E_L 112
-#define FLT_E_R 114
-/* forward right turn step */
-#define FRT_S_L 116
-#define FRT_S_R 118
-#define FRT_M_L 120
-#define FRT_M_R 122
-#define FRT_E_L 124
-#define FRT_E_R 126
-/* backward left turn step */
-#define BLT_S_L 128
-#define BLT_S_R 130
-#define BLT_M_L 132
-#define BLT_M_R 134
-#define BLT_E_L 136
-#define BLT_E_R 138
-/* backward right turn step */
-#define BRT_S_L 140
-#define BRT_S_R 142
-#define BRT_M_L 144
-#define BRT_M_R 146
-#define BRT_E_L 148
-#define BRT_E_R 150
-/* left turn A??? step */
-#define LTA_S_L 152
-#define LTA_S_R 154
-#define LTA_M_L 156
-#define LTA_M_R 158
-#define LTA_E_L 160
-#define LTA_E_R 162
-/* right turn A?? step */
-#define RTA_S_L 164
-#define RTA_S_R 166
-#define RTA_M_L 168
-#define RTA_M_R 170
-#define RTA_E_L 172
-#define RTA_E_R 174
-/* forward left step */
-#define FL_S_L 176
-#define FL_S_R 178
-#define FL_M_L 180
-#define FL_M_R 182
-#define FL_E_L 184
-#define FL_E_R 186
-/* forward right step */
-#define FR_S_L 188
-#define FR_S_R 190
-#define FR_M_L 192
-#define FR_M_R 194
-#define FR_E_L 196
-#define FR_E_R 198
-/* backward left step */
-#define BL_S_L 200
-#define BL_S_R 202
-#define BL_M_L 204
-#define BL_M_R 206
-#define BL_E_L 208
-#define BL_E_R 210
-/* backward right step */
-#define BR_S_L 212
-#define BR_S_R 214
-#define BR_M_L 216
-#define BR_M_R 218
-#define BR_E_L 220
-#define BR_E_R 222
-
-#define BALANCE 224
-#define CLAP_END 225
+#define INIT 1
+#define OK 2
+#define NO 3
+#define HI 4
+#define QUESTION 5
+#define TALK1 6
+#define WALK_READY 9
+#define FORWARD_UP 10
+#define BACKWARD_UP 11
+#define RIGHT_KICK 12
+#define LEFT_KICK 13
+#define SIT_DOWN 15
+#define STAND_UP 16
+#define MUL 17 //(3 pages)
+#define D1 23
+#define D2A 24 //(2 pages)
+#define D3 27
+#define TALK2A 29 //(2 pages)
+#define D4 31
+#define D2B 38 //(2 pages)
+#define TALK2B 41 //(7 pages)
+#define INIT_2 54 //(4 pages)
+#define RIGHT_PASS 70
+#define LEFT_PASS 71
+#define LIE_DOWN 90
+#define LIE_UP 91
+#define SIT_DOWN_2 237
+#define SIT_DOWN_3 239 //(3 pages)
#ifdef __cplusplus
}
diff --git a/src/motion_pages.c b/src/motion_pages.c
index 8ec60f7544a64dd1990aecc0c542a739673de558..264a213a12b335bfdbe1c9da928eeb4333b06e8a 100755
--- a/src/motion_pages.c
+++ b/src/motion_pages.c
@@ -355,7 +355,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1
+ // page 1 (int)
{
{
{0x69,0x6e,0x74,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -413,7 +413,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 2
+ // page 2 (ok)
{
{
{0x6f,0x6b,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -471,7 +471,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 3
+ // page 3 (no)
{
{
{0x6e,0x6f,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -529,7 +529,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 4
+ // page 4 (hi)
{
{
{0x68,0x69,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -587,7 +587,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 5
+ // page 5 (??)
{
{
{0x3f,0x3f,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -645,7 +645,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 6
+ // page 6 (talk1)
{
{
{0x74,0x61,0x6c,0x6b,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -703,7 +703,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 7
+ // page 7 (walk_ready)
{
{
{0x77,0x61,0x6c,0x6b,0x72,0x65,0x61,0x64,0x79,0x00,0x00,0x00,0x00,0x00},
@@ -761,7 +761,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 8
+ // page 8 (f_up)
{
{
{0x66,0x20,0x75,0x70,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -819,7 +819,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 9
+ // page 9 (b_up)
{
{
{0x62,0x20,0x75,0x70,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -877,7 +877,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page a
+ // page a (rk)
{
{
{0x72,0x6b,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -935,7 +935,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page b
+ // page b (lk)
{
{
{0x6c,0x6b,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -993,7 +993,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page c
+ // page c (sit_down)
{
{
{0x73,0x69,0x74,0x20,0x64,0x6f,0x77,0x6e,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1051,7 +1051,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page d
+ // page d (stand_up)
{
{
{0x73,0x74,0x61,0x6e,0x64,0x20,0x75,0x70,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1109,7 +1109,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page e
+ // page e (mul1)
{
{
{0x6d,0x75,0x6c,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1167,7 +1167,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page f
+ // page f (mul2)
{
{
{0x6d,0x75,0x6c,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1225,7 +1225,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 10
+ // page 10 (mul3)
{
{
{0x6d,0x75,0x6c,0x33,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1283,7 +1283,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 11
+ // page 11 (d1)
{
{
{0x64,0x31,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1341,7 +1341,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 12
+ // page 12 (d2)
{
{
{0x64,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1399,7 +1399,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 13
+ // page 13 (d2)
{
{
{0x64,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1457,7 +1457,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 14
+ // page 14 (d3)
{
{
{0x64,0x33,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1515,7 +1515,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 15
+ // page 15 (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1573,7 +1573,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 16
+ // page 16 (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1631,7 +1631,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 17
+ // page 17 (d4)
{
{
{0x64,0x34,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1689,7 +1689,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 18
+ // page 18 (d2)
{
{
{0x64,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1747,7 +1747,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 19
+ // page 19 (d2)
{
{
{0x64,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1805,7 +1805,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1a
+ // page 1a (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1863,7 +1863,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1b
+ // page 1b (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1921,7 +1921,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1c
+ // page 1c (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -1979,7 +1979,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1d
+ // page 1d (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2037,7 +2037,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1e
+ // page 1e (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2095,7 +2095,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 1f
+ // page 1f (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2153,7 +2153,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 20
+ // page 20 (talk2)
{
{
{0x74,0x61,0x6c,0x6b,0x32,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2211,7 +2211,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 21
+ // page 21 (int)
{
{
{0x69,0x6e,0x74,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2269,7 +2269,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 22
+ // page 22 (int)
{
{
{0x69,0x6e,0x74,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2327,7 +2327,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 23
+ // page 23 (int)
{
{
{0x69,0x6e,0x74,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2385,7 +2385,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 24
+ // page 24 (int)
{
{
{0x69,0x6e,0x74,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2443,7 +2443,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 25
+ // page 25 (int)
{
{
{0x69,0x6e,0x74,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2501,7 +2501,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 26
+ // page 26 (rPASS)
{
{
{0x72,0x50,0x41,0x53,0x53,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2559,7 +2559,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 27
+ // page 27 (lPASS)
{
{
{0x6c,0x50,0x41,0x53,0x53,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2617,7 +2617,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 28
+ // page 28 (lie_down)
{
{
{0x6c,0x69,0x65,0x20,0x64,0x6f,0x77,0x6e,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2675,7 +2675,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 29
+ // page 29 (lie_up)
{
{
{0x6c,0x69,0x65,0x20,0x75,0x70,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2733,7 +2733,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 2a
+ // page 2a (sit_down)
{
{
{0x73,0x69,0x74,0x20,0x64,0x6f,0x77,0x6e,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2791,7 +2791,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 2b
+ // page 2b (sit_down)
{
{
{0x73,0x69,0x74,0x20,0x64,0x6f,0x77,0x6e,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2849,7 +2849,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 2c
+ // page 2c (sit_down)
{
{
{0x73,0x69,0x74,0x20,0x64,0x6f,0x77,0x6e,0x00,0x00,0x00,0x00,0x00,0x00},
@@ -2907,7 +2907,7 @@ TPage motion_pages[46] __attribute__ ((section (".pages")))=
}
}
},
- // page 2d
+ // page 2d (sit_down)
{
{
{0x73,0x69,0x74,0x20,0x64,0x6f,0x77,0x6e,0x00,0x00,0x00,0x00,0x00,0x00},