diff --git a/control_msgs/CMakeLists.txt b/control_msgs/CMakeLists.txt
index fa2ed67..4c089cf 100644
--- a/control_msgs/CMakeLists.txt
+++ b/control_msgs/CMakeLists.txt
@@ -39,6 +39,7 @@ set(msg_files
 )
 
 set(action_files
+  action/AntipodalGripperCommand.action
   action/FollowJointTrajectory.action
   action/GripperCommand.action
   action/JointTrajectory.action
diff --git a/control_msgs/action/AntipodalGripperCommand.action b/control_msgs/action/AntipodalGripperCommand.action
new file mode 100644
index 0000000..a0395b2
--- /dev/null
+++ b/control_msgs/action/AntipodalGripperCommand.action
@@ -0,0 +1,11 @@
+sensor_msgs/JointState command # The velocity and effort fields are optionally and not used if empty.
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint
+---
+float64 position  # The current gripper gap size (in meters)
+float64 effort    # The current effort exerted (in Newtons)
+bool stalled      # True iff the gripper is exerting max effort and not moving
+bool reached_goal # True iff the gripper position has reached the commanded setpoint