diff --git a/rbs_skill_interfaces/action/MoveitSendPose.action b/rbs_skill_interfaces/action/MoveitSendPose.action
index 8c76779..476fcdb 100644
--- a/rbs_skill_interfaces/action/MoveitSendPose.action
+++ b/rbs_skill_interfaces/action/MoveitSendPose.action
@@ -12,6 +12,8 @@ string robot_name
 float32 end_effector_velocity
 float32 end_effector_acceleration
 float32 duration #if this action cannot be completed within this time period it should be considered failed.
+string planner_id
+string pipeline_id
 ---
 #result definition
 bool success