diff --git a/CMakeLists.txt b/CMakeLists.txt
index bfc06626e956f32308f4899b3c4405d768726aae..159bb3fdb5e3da675e201824dfbbdfe5d5dcf1e3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,6 +68,7 @@ add_action_files(
   FILES
   ask_questionary.action
   ask_questions.action
+  remote_control.action
 #   Action2.action
 )
 
diff --git a/action/ask_questionary.action b/action/ask_questionary.action
index 25eac3b0c59962300d5bba398d7611b7139060d8..8fb6b19bbaf2557c6c6399be59e41e22e351e157 100644
--- a/action/ask_questionary.action
+++ b/action/ask_questionary.action
@@ -6,10 +6,24 @@ uint8 NOROOMS=2 # No rooms received to search.
 uint8 PNOTFOUND=3 # Person not found.
 uint8 PLOST=4 # Person lost while approaching.
 uint8 APPROCHNAVERR=5 # Navigation error when approaching person.
-uint8 QNOTFINISH=6 # Something went wrong in the questionary
-uint8 ANOTSENT=7 # Error sending answers.
-uint8 NOTHOME=8 # Error when going back to home
-uint8 UNKNOWNERR=9 # Unknown error.
+uint8 MOTIONERR=6 # Error when playing motion.
+uint8 QNOTFINISH=7 # Something went wrong in the questionary
+uint8 ANOTSENT=8 # Error sending answers.
+uint8 NOTHOME=9 # Error when going back to home
+uint8 UNKNOWNERR=10 # Unknown error.
+uint8 SENTERR=11 # Error capturing sentiment.
+uint8 ROOMERR=12 # Error getting localization.
+uint8 POSEERR=13 # Error capturing pose.
+
+##### Language code
+uint8 ENGLISH=0
+uint8 CATALAN=1
+uint8 SPANISH=2
+
+##### Tone/Sentiment code
+uint8 HAPPY=0
+uint8 SAD=1
+uint8 NEUTRAL=2
 
 ##### Status code
 uint8 SEARCHING=0 # Searching the person
@@ -17,11 +31,31 @@ uint8 APPROACHING=1 #Person found. Approaching person.
 uint8 ASKING=2 # Asking the questionary
 uint8 RETURNING=3 # Returning home.
 
+##### Person pose code
+uint8 SIT=0
+uint8 STANDING=1
+uint8 LYING=2
+
 string questionary_id #Questionary name.
 string[] questions_id #Vector with the questions references to ask. If empty ask all.
+string[] response_options #Vector with the answers
+int32 language # language code
+int32 tone # Tone code
+bool screen_answers # Bool to show screen answers
+string screen # Screen to be displayed
+string motion # Motion name
+bool get_answer # Bool to wait for an answer
+bool get_sentiment # Bool to get sentiment
+bool get_room # Bool to get room
+bool get_pose # Bool to get person pose
 ---
 int32 result_code #Result code.
 string result_str # Result human readable string.
+int32 final_pose # person pose code
+int32 sentiment # person sentiment
+string room #
 ---
 int32 status_code #Status code.
 string status_str # Status human readable string.
+int32 pose # person pose code
+int32 sentiment # person sentiment
diff --git a/action/ask_questions.action b/action/ask_questions.action
index d654ddd0901cf91640dedcb562aa44a0bc5ea53f..3f10dd921d232456a2081455eb1b88e451769337 100644
--- a/action/ask_questions.action
+++ b/action/ask_questions.action
@@ -4,8 +4,22 @@ uint8 SUCCESS=0 # Questionary successfully finished.
 uint8 QERR=1 # Error reading questionary.
 uint8 QNOTFINISHED=2 # Q.
 
+##### Language code
+uint8 ENGLISH=0
+uint8 CATALAN=1
+uint8 SPANISH=2
+
+##### Tone/Sentiment code
+uint8 HAPPY=0
+uint8 SAD=1
+uint8 NEUTRAL=2
+
 string questionary_id #Questionary name.
 string[] questions_id #Vector with the questions references to ask. If empty ask all.
+string[] response_options #Vector with the answers
+int32 language # language code
+int32 tone # Tone code
+bool get_answer # Bool to wait for an answer
 ---
 int32 return_code # Code after analizing the response.
 string return_msg # Optional returning msg to pass information to higher levels.
diff --git a/action/remote_control.action b/action/remote_control.action
new file mode 100644
index 0000000000000000000000000000000000000000..ca62745a6950faee6b50008b7979fec6fd7a12b2
--- /dev/null
+++ b/action/remote_control.action
@@ -0,0 +1,24 @@
+# Action to ask for remote control
+
+##### Error code
+uint8 SUCCESS=0 # All ok.
+uint8 SEARCHNAVERR=1 # Navigation error when searching the person.
+uint8 NOROOMS=2 # No rooms received to search.
+uint8 PNOTFOUND=3 # Person not found.
+uint8 PLOST=4 # Person lost while approaching.
+uint8 APPROCHNAVERR=5 # Navigation error when approaching person.
+uint8 MOTIONERR=6 # Error when playing motion.
+uint8 QNOTFINISH=7 # Something went wrong in the questionary
+uint8 ANOTSENT=8 # Error sending answers.
+uint8 NOTHOME=9 # Error when going back to home
+uint8 UNKNOWNERR=10 # Unknown error.
+uint8 SENTERR=11 # Error capturing sentiment.
+uint8 ROOMERR=12 # Error getting localization.
+uint8 POSEERR=13 # Error capturing pose.
+
+int32 err_code # error code
+geometry_msgs/PoseStamped person_pose # person pose
+string room # current room
+---
+bool continue # Flag to continue with the action or to abort it
+---