diff --git a/action/GenericImgProcAnnotator.action b/action/GenericImgProcAnnotator.action
index 91dcc61ae29d2b0214a9fea6fe0ab8d2b645f79c..5fa5e4eb257cda9714c1c07be4c1c8a5c78c75b9 100644
--- a/action/GenericImgProcAnnotator.action
+++ b/action/GenericImgProcAnnotator.action
@@ -1,6 +1,14 @@
 #goal
 sensor_msgs/Image rgb
 sensor_msgs/Image depth
+
+# A list of bounding boxes of already detected things in either 'rgb' or 'depth'
+sensor_msgs/RegionOfInterest[] bb_detections
+# A list of image masks of already detected things in either 'rgb' or 'depth'
+sensor_msgs/Image[] mask_detections
+# A list of class names of already detected things in either 'rgb' or 'depth'
+string[] class_names
+
 string description
 
 ---
@@ -8,12 +16,15 @@ string description
 bool success
 string result_feedback
 
-# A list of bounding boxes for all detected objects
+# A list of bounding boxes for all detected things
 sensor_msgs/RegionOfInterest[] bounding_boxes
 
 # Class IDs for each entry in bounding_boxes
 int32[] class_ids
 
+# Class names for each entry in bounding_boxes
+string[] class_names
+
 # Class confidence for each entry in bounding_boxes
 float32[] class_confidences
 
@@ -24,7 +35,7 @@ sensor_msgs/Image image
 # The best pose for each entry in bounding_boxes
 geometry_msgs/Pose[] pose_results
 
-# Array-based string feedback when generating text for all detected objects etc.
+# Array-based string feedback when generating text for all detected things etc.
 string[] descriptions
 
 ---