From 0591845778eaa61b76ad6adde083337b3e1dde11 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 28 Jun 2023 15:51:15 +0200
Subject: [PATCH 1/3] Added gpio flags for force_mode

---
 urdf/ur.ros2_control.xacro | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index f8e1f91..16ddcd5 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -312,6 +312,35 @@
           <command_interface name="zero_ftsensor_async_success"/>
         </gpio>
 
+        <gpio name="${tf_prefix}force_mode">
+          <command_interface name="task_frame_x"/>
+          <command_interface name="task_frame_y"/>
+          <command_interface name="task_frame_z"/>
+          <command_interface name="task_frame_rx"/>
+          <command_interface name="task_frame_ry"/>
+          <command_interface name="task_frame_rz"/>
+          <command_interface name="selection_vector_x"/>
+          <command_interface name="selection_vector_y"/>
+          <command_interface name="selection_vector_z"/>
+          <command_interface name="selection_vector_rx"/>
+          <command_interface name="selection_vector_ry"/>
+          <command_interface name="selection_vector_rz"/>
+          <command_interface name="wrench_x"/>
+          <command_interface name="wrench_y"/>
+          <command_interface name="wrench_z"/>
+          <command_interface name="wrench_rx"/>
+          <command_interface name="wrench_ry"/>
+          <command_interface name="wrench_rz"/>
+          <command_interface name="limits_x"/>
+          <command_interface name="limits_y"/>
+          <command_interface name="limits_z"/>
+          <command_interface name="limits_rx"/>
+          <command_interface name="limits_ry"/>
+          <command_interface name="limits_rz"/>
+          <command_interface name="type"/>
+          <command_interface name="force_mode_async_success"/>
+        </gpio>
+
         <gpio name="${tf_prefix}system_interface">
           <state_interface name="initialized"/>
         </gpio>

From e99f3ee34bbb55789bc7d4ec62de04beb715832b Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Wed, 28 Jun 2023 22:34:53 +0200
Subject: [PATCH 2/3] Added io field for disabling force mode

---
 urdf/ur.ros2_control.xacro | 1 +
 1 file changed, 1 insertion(+)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 16ddcd5..63cf6a3 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -338,6 +338,7 @@
           <command_interface name="limits_ry"/>
           <command_interface name="limits_rz"/>
           <command_interface name="type"/>
+          <command_interface name="disable_cmd"/>
           <command_interface name="force_mode_async_success"/>
         </gpio>
 

From 6ca93431eb070d9b4c174ce544a0f53a8b3d1fa9 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Fri, 30 Jun 2023 16:47:37 +0200
Subject: [PATCH 3/3] Added IO fields for force_mode damping and gain_scaling

---
 urdf/ur.ros2_control.xacro | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 63cf6a3..2e410dc 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -340,6 +340,8 @@
           <command_interface name="type"/>
           <command_interface name="disable_cmd"/>
           <command_interface name="force_mode_async_success"/>
+          <command_interface name="damping"/>
+          <command_interface name="gain_scaling"/>
         </gpio>
 
         <gpio name="${tf_prefix}system_interface">