diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e9400b3015..53d11d636a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,6 +80,7 @@ DeleteRobotStateFromWarehouse.srv
 )
 
 set(ACT_FILES
+ExecutePath.action
 MoveGroup.action
 Pickup.action
 Place.action
diff --git a/action/ExecutePath.action b/action/ExecutePath.action
new file mode 100644
index 00000000000..9dd2f6c9b51
--- /dev/null
+++ b/action/ExecutePath.action
@@ -0,0 +1,12 @@
+# The trajectory to execute
+RobotTrajectory trajectory
+
+---
+
+# Error code - encodes the overall reason for failure
+MoveItErrorCodes error_code
+
+---
+
+# The internal state that the move group action currently is in
+string state