diff --git a/README.md b/README.md
deleted file mode 100644
index e81c402..0000000
--- a/README.md
+++ /dev/null
@@ -1,2 +0,0 @@
-# hivecore_robot_interfaces
-
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4f0928c..1fbd7d0 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -27,6 +27,11 @@ set(action_files
   action/VisionGraspObject.action
   action/SlamMode.action
   action/Arm.action
+  action/CameraTakePhoto.action
+  action/MoveHome.action
+  action/MoveLeg.action
+  action/MoveWaist.action
+  action/MoveWheel.action
 )
 set(srv_files
   srv/VisionObjectRecognition.srv
diff --git a/src/action/CameraTakePhoto.action b/src/action/CameraTakePhoto.action
new file mode 100644
index 0000000..1ce708c
--- /dev/null
+++ b/src/action/CameraTakePhoto.action
@@ -0,0 +1,8 @@
+# Goal: hand control parameters
+int32 mode  # 0=open, 1=close
+float32 effort
+---
+bool success
+string message
+---
+float32 progress
\ No newline at end of file
diff --git a/src/action/MoveHome.action b/src/action/MoveHome.action
new file mode 100644
index 0000000..b321cea
--- /dev/null
+++ b/src/action/MoveHome.action
@@ -0,0 +1,8 @@
+# 目标 回零点
+---
+# 结果：运动成功，或执行完毕
+bool success
+string message
+---
+# 反馈：各关节位置，运动进度
+int64[] joint_values
diff --git a/src/action/MoveLeg.action b/src/action/MoveLeg.action
new file mode 100644
index 0000000..3be77f9
--- /dev/null
+++ b/src/action/MoveLeg.action
@@ -0,0 +1,9 @@
+# 目标 腿伸长或缩短运动
+float32 move_up_distance
+---
+# 结果：运动成功，或执行完毕
+bool success
+string message
+---
+# 反馈：各关节角度
+int64[] joint_values
diff --git a/src/action/MoveWaist.action b/src/action/MoveWaist.action
new file mode 100644
index 0000000..418d75f
--- /dev/null
+++ b/src/action/MoveWaist.action
@@ -0,0 +1,10 @@
+# 目标 腰部运动
+float32 move_pitch_degree
+float32 move_yaw_degree
+---
+# 结果：运动成功，或执行完毕
+bool success
+string message
+---
+# 反馈：各关节角度
+int64[] joint_values
diff --git a/src/action/MoveWheel.action b/src/action/MoveWheel.action
new file mode 100644
index 0000000..5b57f75
--- /dev/null
+++ b/src/action/MoveWheel.action
@@ -0,0 +1,11 @@
+# 目标 底盘运动
+float32 move_distance
+float32 move_angle
+---
+# 结果：运动成功，或执行完毕
+bool success
+string message
+---
+# 反馈：当前位置，当前角度，运动进度
+float32 current_pos
+float32 current_angle