Update code for states

Co-authored-by: Dr. Denis <[email protected]>

Author: sachinkum0009

control_msgs/action/IOGripperCommand.action

@@ -1,14 +1,22 @@
 # This action interface is defined for controlling the io gripper controller to open or close the gripper
 
-# The io_gripper_controller follows a set of states to open/close the gripper
-# The states are defined as follows:
-# IDLE (0): The gripper is in an idle state, not performing any action.
-# SET_BEFORE_COMMAND (1): The gripper is preparing to execute a command.
-# CLOSE_GRIPPER (2): The gripper is closing.
-# CHECK_GRIPPER_STATE (3): The gripper is checking its current state.
-# OPEN_GRIPPER (4): The gripper is opening.
-# SET_AFTER_COMMAND (5): The gripper is finalizing the command execution.
-# HALTED (6): The gripper has halted due to an error or stop command.
+# The grippers are going through the different states during opening and closing process.
+# Those are returned as feedback.
+
+# The gripper is in an idle state, not performing any action.
+uint8 IDLE=0 
+# The gripper is setting command interfaces to be able to perform open or close action, e.g., disabling breaks.
+uint8 SET_BEFORE_COMMAND=1
+# The close comand is sent to gripper on its command interfaces.
+uint8 CLOSE_GRIPPER=2
+# The controller is checking its current gripper's state on state interfaces.
+uint8 CHECK_GRIPPER_STATE=3
+# The open comand is sent to gripper on its command interfaces.
+uint8 OPEN_GRIPPER=4
+# The gripper is setting "after" commands when open or close process if finished, e.g., engaging breaks.
+uint8 SET_AFTER_COMMAND=5
+# The gripper has halted due to an error or stop command.
+uint8 HALTED=6
 
 bool open # boolean value to indicate if the gripper should be opened or closed (e.g. true for open, false for close)
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