docs: update fanuc guide

docs/core/examples/guides/fanuc-hardware-interface.md

@@ -34,9 +34,9 @@ As stated in the documentation, J568 and J570 are no longer required.
 
 :::
 
-To use the FANUC collection, add `collections/fanuc` **v1.0.0** to your configuration in AICA Launcher, currently
-supporting the CRX-10iA. Other robot models can be added on request. Simply reach out to the AICA support team for
-further information.
+To use the FANUC collection, add the latest version of `collections/fanuc` to your configuration in AICA Launcher,
+currently supporting the CRX-10iA and the M-10𝑖D/12. Other robot models can be added on request. Simply reach out to the
+AICA support team for further information.
 
 ## Connecting to a robot
 
@@ -70,6 +70,112 @@ robot:
 - Robot IP: the IP address of the robot 
 - RMI port: the port of the Remote Motion Interface (keep default unless otherwise configured on the robot controller)
 - Stream Motion Port: the port of Stream Motion (keep default unless otherwise configured on the robot controller)
+- GPIO configuration (v1.1.0 and above): an absolute path to a YAML file containing the GPIOs that should be configured
+  (see more information below)
 - Payload Schedule: the number of the payload to be set on the robot
+- Out Cmd Interp Buff Target: Output command interpolation buffer target size for stream motion control
+- Force Sensor Type (v1.1.0 and above): The type of force torque sensor to configure (see more information below)
 
-Click **Start** to start the application and connect to the robot. 
+Click **Start** to start the application and connect to the robot. 
+
+### GPIO configuration
+
+Selected robot controller GPIO topics support high-frequency update. The update rate is up to the robot controller
+sampling rate. The selection of high-frequency updated GPIOs is configured through a YAML configuration file before
+the driver starts. For detailed description, refer to the relevant sections in the
+[official documentation](https://fanuc-corporation.github.io/fanuc_driver_doc/main/docs/fanuc_driver/controller_usage.html#configuring-high-frequency-i-o).
+
+:::note
+
+The official documentation states the behavior as follows:
+
+> When outputs or numeric registers are added to the command section of the GPIO configuration YAML file, once the ROS 2
+  driver is launched those output and numeric register values in the controller will be set to false or zero.
+
+However, the version of the driver provided by AICA takes additional care **not** to overwrite the value of the GPIOs on startup,
+and instead persists the initial value set on the robot controller.
+
+:::
+
+A example configuration of a GPIO configuration file could look as follows:
+
+```yaml
+gpio_topic_config:
+  io_state:
+    - type: DI
+      start: 101
+      length: 3
+    - type: DO
+      start: 101
+      length: 1
+  io_cmd:
+    - type: DO
+      start: 101
+      length: 2
+```
+
+This configuration claims reads interfaces
+- DI[101], DI[102], and DI[103] (`start` is 101 and `length` is 3)
+- DO[101] (`start` is 101 and `length` is 1)
+
+and writes to interfaces
+- DO[101] and DO[102] (`start` is 101 and `length` is 2)
+
+In order for this configuration to be accepted by the hardware interface, it is necessary to add matching state and
+command interfaces to the `ros2_control` section of the URDF as follows:
+
+```xml
+  <ros2_control>
+    <!-- keep existing parts of ros2_control -->
+    <gpio name="DI">
+      <state_interface name="101"/>
+      <state_interface name="102"/>
+      <state_interface name="103"/>
+    </gpio>
+
+    <gpio name="DO">
+      <state_interface name="101"/>
+      <command_interface name="101"/>
+      <command_interface name="102"/>
+    </gpio>
+  </ros2_control>
+```
+
+### Force torque sensor configuration
+
+Starting with driver version `collections/fanuc:v1.1.0` and robot controller software V9.40/P85, it is possible to read 
+force torque sensor values directly from the robot. The type of force sensor can be configured through the `force_sensor_type`
+hardware parameter. Available types are:
+
+- 0: Unselected
+- 1: Embedded: for all CRX models with inbuilt sensor
+- 2: External: for robots with an external FANUC force torque sensor mounted at the flange
+
+:::note
+
+Users without software V9.40/P85 should keep the type at 0 to be able to start the hardware interface.
+
+:::
+
+When the `force_sensor_type` is set to 1 or 2, the URDF must include the following `sensor` interfaces within the `ros2_control` 
+element.
+
+```xml
+  <ros2_control>
+    <!-- keep existing parts of ros2_control -->
+    <sensor name="ft_sensor">
+      <state_interface name="force.x"/>
+      <state_interface name="force.y"/>
+      <state_interface name="force.z"/>
+      <state_interface name="torque.x"/>
+      <state_interface name="torque.y"/>
+      <state_interface name="torque.z"/>
+    </sensor>
+  </ros2_control>
+```
+
+:::warning
+
+The URDF must not include these interfaces if using `collections/fanuc:v1.0.0` or if the `force_sensor_type` is set to 0.
+
+:::