Abilify is well known for causing restlessness, or Akathisia. There are meds that they can use to treat this if that is the cause. yes, more meds yippie!

Akathisia is a syndrome characterized by unpleasant sensations of inner restlessness that manifests itself with an inability to sit still or remain motionless. It can be a side effect of medications, mainly neuroleptic antipsychotics.

Worth bringing up to your pdoc.