diff --git a/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoTeleoperate.action b/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoTeleoperate.action
index 3914f48..6297290 100644
--- a/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoTeleoperate.action
+++ b/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoTeleoperate.action
@@ -27,3 +27,8 @@ string reason
 
 # The current teleoperation mode
 TeleoperationMode current_mode
+
+# The selected planning groups and associated controllers
+# The UI must fill these fields with the planning groups that need to be teleoperated.
+string[] planning_groups
+string[] controllers