diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
index 5d9ebe3..1daf3fd 100644
--- a/urdf/ur.ros2_control.xacro
+++ b/urdf/ur.ros2_control.xacro
@@ -292,12 +292,25 @@
           <command_interface name="cog.x"/>
           <command_interface name="cog.y"/>
           <command_interface name="cog.z"/>
+          <command_interface name="inertia.ixx"/>
+          <command_interface name="inertia.iyy"/>
+          <command_interface name="inertia.izz"/>
+          <command_interface name="inertia.ixy"/>
+          <command_interface name="inertia.ixz"/>
+          <command_interface name="inertia.iyz"/>
+          <command_interface name="transition_time"/>
           <command_interface name="payload_async_success"/>
 
           <state_interface name="mass"/>
           <state_interface name="cog.x"/>
           <state_interface name="cog.y"/>
           <state_interface name="cog.z"/>
+          <state_interface name="inertia.ixx"/>
+          <state_interface name="inertia.iyy"/>
+          <state_interface name="inertia.izz"/>
+          <state_interface name="inertia.ixy"/>
+          <state_interface name="inertia.ixz"/>
+          <state_interface name="inertia.iyz"/>
         </gpio>
 
         <gpio name="${tf_prefix}friction_model">