diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5bf67cbb365bc9397e3ad1f0b209ffb8caee1e6a..a6ed2ea89426c6c43801cc5ebb1c2cf8732adf57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -62,6 +62,7 @@ add_message_files(
   Question.msg
   Screen.msg
   Speech.msg
+  Result.msg
 )
 
 ## Generate services in the 'srv' folder
diff --git a/action/ExecuteActivity.action b/action/ExecuteActivity.action
index 1e5d0204996fb0cf9537061ed6dd61f7821c80eb..54bf5b1992a873479e24476ecd9beaa2752dae43 100755
--- a/action/ExecuteActivity.action
+++ b/action/ExecuteActivity.action
@@ -2,8 +2,6 @@
 
 iri_raadical_msgs/Activity activity
 ---
-int32 return_code # Code after finishing the activity.
-string return_msg # Optional returning msg to pass information to higher levels.
+iri_raadical_msgs/Result result
 ---
 string feedback_status
-string[] answers
diff --git a/msg/Date.msg b/msg/Date.msg
index 9d6154d1bc4c11e7d0e99c59233f4691a05420f5..10fe24a833afde3b152f1a40348d7c1eb05d611d 100755
--- a/msg/Date.msg
+++ b/msg/Date.msg
@@ -3,4 +3,4 @@ int32 year
 int32 month
 int32 day
 int32 hour
-int32 minute
\ No newline at end of file
+int32 minute
diff --git a/msg/Result.msg b/msg/Result.msg
new file mode 100644
index 0000000000000000000000000000000000000000..7158ff0a76ede09bc978c5b8359e17e0b08ece5f
--- /dev/null
+++ b/msg/Result.msg
@@ -0,0 +1,8 @@
+string activity_id  # to identify the parent activity
+int32 return_code   # code after finishing the activity.
+string return_msg   # optional returning msg to pass information to higher levels.
+string[] answers    # sorted array containing each action answer. empty element if not captured or failed
+string[] emotions   # sorted array containing each action emotion. empty element if not captured or failed
+string[] locations  # sorted array containing each action location. empty element if not captured or failed
+geometry_msgs/Pose[] poses      # sorted Pose message containing each action pose. empty element if not captured or failed
+
diff --git a/srv/TextToSpeech.srv b/srv/TextToSpeech.srv
index 6391b117d902195bf2a31ed30d7fb1433f4d5ad8..7e35cfb71fe13a770cd8d97e33bddeb2d4ee74f2 100644
--- a/srv/TextToSpeech.srv
+++ b/srv/TextToSpeech.srv
@@ -8,4 +8,4 @@ int32 emotion
     # 2: tristeza
     # 3: enfado
 ---
-string result
\ No newline at end of file
+string result