new_contents: #! /usr/bin/env python
  
  import roslib; roslib.load_manifest('vigir_bs_manager')
  
  import rospy
  import actionlib
  
  from vigir_bs_msgs.msg import *
  
  def behavior_synthesis_client():
      # Creates the SimpleActionClient, passing the type of the action
      # (FibonacciAction) to the constructor.
      client = actionlib.SimpleActionClient('behavior_synthesis', BehaviorSynthesisAction)
  
      # Waits until the action server has started up and started
      # listening for goals.
      client.wait_for_server()
  
      # Creates a goal to send to the action server.
      goal = BehaviorSynthesisGoal()
      goal.request = BehaviorSynthesisRequest()
      goal.request.objective = 'manipulate'
      goal.synthesis_options = SynthesisOptions()
      goal.synthesis_options.something = False
  
      # Sends the goal to the action server.
      client.send_goal(goal)
  
      # Waits for the server to finish performing the action.
      client.wait_for_result()
  
      # Prints out the result of executing the action
      return client.get_result()
  
  if __name__ == '__main__':
      
      try:
          # Initializes a rospy node so that the SimpleActionClient can publish and subscribe over ROS.
          rospy.init_node('behavior_synthesis_client_py')
          result = behavior_synthesis_client()
          print('Result: %s' % str(result.error_code.value))
      except rospy.ROSInterruptException:
          print "Program interrupted before completion"
  
      rospy.sleep(1.0) # Dirty way of avoiding a ROSHandshakeException
  
subject: Add temp action client