diff --git a/humanoid_common_msgs/action/humanoid_gripper.action b/humanoid_common_msgs/action/humanoid_gripper.action
new file mode 100644
index 0000000000000000000000000000000000000000..99e044277a8263a9ce1143c5acf81dff67567dd7
--- /dev/null
+++ b/humanoid_common_msgs/action/humanoid_gripper.action
@@ -0,0 +1,9 @@
+#goal definition
+bool    open
+---
+#result definition
+bool    successful
+---
+#feedback
+float32 current_angle_top
+float32 current_angle_bot