diff --git a/ur_rtde_driver/doc/features.md b/ur_rtde_driver/doc/features.md
index 75f7d01..db13207 100644
--- a/ur_rtde_driver/doc/features.md
+++ b/ur_rtde_driver/doc/features.md
@@ -11,26 +11,23 @@
| continue trajectories after EM-Stop resume | - | yes |
| continue trajectories after protective stop | - | yes |
| panel interaction in between possible | no1 | yes |
-| get and set IO states | yes | planned |
+| get and set IO states | yes | yes |
| use tool communication on e-series | - | yes |
| use the driver without a teach pendant necessary | - | planned |
| support of CB2 robots | yes | - |
| trajectory extrapolation on robot on missing packages | no2 | yes |
-| use ROS as drop-in for TP-programs | - | planned3 |
+| use ROS as drop-in for TP-programs | - | yes |
| extract calibration from robot | - | yes |
-| send custom script commands to robot | yes | planned |
-| ROS 2 support | ? | (planned)4 |
-| Reconnect on a disconnected robot | yes | in progress |
+| send custom script commands to robot | yes | yes |
+| ROS 2 support | ? | (planned)3 |
+| Reconnect on a disconnected robot | yes | yes |
1 Depending on the mode the driver is running the panel won't react or using the panel
will stop the program without notifying the ROS user.
2 In velocity mode this is implicitly given.
-3 Currently, you can use ROS as the last element in a program, but handing back control
-to the TP is not yet implemented.
-
-4 There is no specific plan to do this inside of the first driver development. However,
+3 There is no specific plan to do this inside of the first driver development. However,
it is structured in a way so that a ROS2 driver should be developed as easy as possible by keeping
as much as possible in a ros-independent library.