# Goal definition
float64 desired_position    # in m
float64 max_velocity        # in m/s
float64 max_effort          # in Newtons
---
# Result definition
float64 final_position      # The final gripper gap size (in meters)
bool stalled                # True if the gripper is exerting max effort and not moving
bool reached_goal           # True if the gripper position has reached the commanded setpoint
---
# Feedback definition
float64 current_position    # in m