diff --git a/ur_calibration/doc/index.rst b/ur_calibration/doc/index.rst
index 8b9927577..eb1593111 100644
--- a/ur_calibration/doc/index.rst
+++ b/ur_calibration/doc/index.rst
@@ -1,5 +1,7 @@
 :github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_calibration/doc/index.rst
 
+.. _ur_calibration:
+
 ur_calibration
 ==============
 
diff --git a/ur_robot_driver/doc/features.rst b/ur_robot_driver/doc/features.rst
index 729c23827..fb947f2b3 100644
--- a/ur_robot_driver/doc/features.rst
+++ b/ur_robot_driver/doc/features.rst
@@ -1,5 +1,3 @@
-:github_url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/doc/features.rst
-
 .. role:: raw-html-m2r(raw)
    :format: html
 
@@ -15,15 +13,15 @@ Feature list and roadmap
    * - joint-position-based control
      - yes
    * - scaled joint-position-based control
-     - yes
+     - yes (:ref:`scaled_jtc`)
    * - joint-velocity-based control
-     - yes
+     - yes\ :raw-html-m2r:`<sup>1</sup>`
    * - Cartesian position-based control
      - no
    * - Cartesian twist-based control
      - no
    * - Trajectory forwarding for execution on robot
-     - yes
+     - yes (:ref:`passthrough_trajectory_controller`)
    * - reporting of tcp wrench
      - yes
    * - pausing of programs
@@ -35,9 +33,9 @@ Feature list and roadmap
    * - panel interaction in between possible
      - yes
    * - get and set IO states
-     - yes
+     - yes (:ref:`io_and_status_controller`)
    * - use `tool communication forwarder <https://github.com/UniversalRobots/Universal_Robots_ToolComm_Forwarder_URCap>`_ on e-series
-     - yes
+     - yes (:ref:`setup-tool-communication`)
    * - use the driver without a teach pendant necessary
      - yes
    * - support of CB1 and CB2 robots
@@ -47,10 +45,18 @@ Feature list and roadmap
    * - use ROS as drop-in for TP-programs
      - yes
    * - headless mode
-     - yes
+     - yes (:ref:`headless_mode`)
    * - extract calibration from robot
-     - yes
+     - yes (:ref:`ur_calibration`)
    * - send custom script commands to robot
-     - yes
+     - yes (:ref:`io_and_status_controller`)
    * - Reconnect on a disconnected robot
      - yes
+   * - Freedrive Mode
+     - yes (:ref:`freedrive_mode_controller`)
+   * - Tool Contact mode
+     - yes (:ref:`tool_contact_controller`)
+   * - Force Mode
+     - yes (:ref:`force_mode_controller`)
+
+:raw-html-m2r:`<sup>1</sup>` Velocity-based joint control is implemented in the driver, the velocity-based joint trajectory controller would need tweaking of the gain parameters for each model.