diff --git a/ur_driver/srv/URSetPayload.srv b/ur_driver/srv/URSetPayload.srv
new file mode 100644
index 0000000000000000000000000000000000000000..d68eb5c86d4c251e1a94ad8ae3ab329b19070cbe
--- /dev/null
+++ b/ur_driver/srv/URSetPayload.srv
@@ -0,0 +1,3 @@
+float32 payload
+-----------------------
+bool success