From 6b1a77624da84461ceaf9ff32ab5a1ff62705e61 Mon Sep 17 00:00:00 2001
From: "Felix Exner (fexner)" <exner@fzi.de>
Date: Sat, 5 Oct 2024 10:09:47 +0200
Subject: [PATCH] Add passthrough command interfaces for joints (#204)

---
 urdf/inc/ur_joint_control.xacro | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/urdf/inc/ur_joint_control.xacro b/urdf/inc/ur_joint_control.xacro
index 220d577..2c40667 100644
--- a/urdf/inc/ur_joint_control.xacro
+++ b/urdf/inc/ur_joint_control.xacro
@@ -8,6 +8,9 @@
     <joint name="${tf_prefix}shoulder_pan_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
@@ -22,6 +25,9 @@
     <joint name="${tf_prefix}shoulder_lift_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
@@ -36,6 +42,9 @@
     <joint name="${tf_prefix}elbow_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['elbow_joint']}</param>
@@ -50,6 +59,9 @@
     <joint name="${tf_prefix}wrist_1_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
@@ -64,6 +76,9 @@
     <joint name="${tf_prefix}wrist_2_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
@@ -78,6 +93,9 @@
     <joint name="${tf_prefix}wrist_3_joint">
       <command_interface name="position"/>
       <command_interface name="velocity"/>
+      <command_interface name="passthrough_position"/>
+      <command_interface name="passthrough_velocity"/>
+      <command_interface name="passthrough_acceleration"/>
       <state_interface name="position">
         <!-- initial position for the mock system and simulation -->
         <param name="initial_value">${initial_positions['wrist_3_joint']}</param>