diff --git a/CMakeLists.txt b/CMakeLists.txt
index a345849..334568d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -72,6 +72,7 @@ set(action_files
   "action/LocateDock.action"
   "action/NavigateWaypoints.action"
   "action/GripperReferenceFilterWaypoint.action"
+  "action/GripperOpenLoopCommand.action"
   "action/VtfGuidance.action"
   "action/GuidanceWaypoint.action"
   "action/FilteredPose.action"
diff --git a/action/GripperOpenLoopCommand.action b/action/GripperOpenLoopCommand.action
new file mode 100644
index 0000000..b3a4b3b
--- /dev/null
+++ b/action/GripperOpenLoopCommand.action
@@ -0,0 +1,16 @@
+# Goal
+float64 roll_velocity
+float64 pinch_velocity
+float64 duration_seconds
+uint8 mode
+
+# Mode constraints (mirrors GripperWaypoint mode constants)
+uint8 ROLL_AND_PINCH = 0
+uint8 ONLY_ROLL = 1
+uint8 ONLY_PINCH = 2
+---
+# Result
+bool success
+---
+# Feedback
+float64 elapsed_seconds
diff --git a/action/GripperReferenceFilterWaypoint.action b/action/GripperReferenceFilterWaypoint.action
index 7b15e41..d78d561 100644
--- a/action/GripperReferenceFilterWaypoint.action
+++ b/action/GripperReferenceFilterWaypoint.action
@@ -6,4 +6,3 @@ float64 convergence_threshold
 bool success
 ---
 # Feedback
-vortex_msgs/GripperReferenceFilter reference
diff --git a/msg/GripperReferenceFilter.msg b/msg/GripperReferenceFilter.msg
index ba128d4..3747f58 100644
--- a/msg/GripperReferenceFilter.msg
+++ b/msg/GripperReferenceFilter.msg
@@ -1,11 +1,2 @@
-# nu_d
-float64 roll 
+float64 roll
 float64 pinch
-
-# nu_d_dot
-float64 roll_dot
-float64 pinch_dot
-
-# nu_d_dotdot
-float64 roll_dotdot
-float64 pinch_dotdot
diff --git a/msg/GripperWaypoint.msg b/msg/GripperWaypoint.msg
index ff70b18..7198bc1 100644
--- a/msg/GripperWaypoint.msg
+++ b/msg/GripperWaypoint.msg
@@ -1,10 +1,9 @@
-GripperReferenceFilter roll
-GripperReferenceFilter pinch
+float64 roll
+float64 pinch
 
-uint8 mode 
+uint8 mode
 
 # GripperWaypoint mode constraints
 uint8 ROLL_AND_PINCH = 0
 uint8 ONLY_ROLL = 1
 uint8 ONLY_PINCH = 2
-