diff --git a/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoObjectiveSequence.action b/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoObjectiveSequence.action
index e70f36c..e63c798 100644
--- a/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoObjectiveSequence.action
+++ b/moveit_studio_msgs/moveit_studio_sdk_msgs/action/DoObjectiveSequence.action
@@ -1,7 +1,11 @@
 # goal
 
+# The name of the objective to run
 string objective_name
 
+# The raw behavior tree xml as a string. If both objective_name and objective_xml_string are populated, this will throw an error.
+string objective_xml_string
+
 # Default values of named parameters in the predefined objective will be overridden by the values provided in `parameter_overrides` below.
 moveit_studio_sdk_msgs/BehaviorParameter[] parameter_overrides
 ---