diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index dbe9c82..0000000
--- a/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-.vscode/
\ No newline at end of file
diff --git a/unitree_legged_msgs/CMakeLists.txt b/unitree_legged_msgs/CMakeLists.txt
index 31f9bca..53b727c 100644
--- a/unitree_legged_msgs/CMakeLists.txt
+++ b/unitree_legged_msgs/CMakeLists.txt
@@ -15,6 +15,7 @@ add_message_files(
   BmsCmd.msg
   BmsState.msg
   Cartesian.msg
+  EeForce.msg
   IMU.msg
   LED.msg
   LowCmd.msg
@@ -47,4 +48,4 @@ install(
   DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
-)
\ No newline at end of file
+)
diff --git a/unitree_legged_msgs/msg/EeForce.msg b/unitree_legged_msgs/msg/EeForce.msg
new file mode 100644
index 0000000..6f3c9be
--- /dev/null
+++ b/unitree_legged_msgs/msg/EeForce.msg
@@ -0,0 +1,3 @@
+int16 x            # End-effector force in x direction
+int16 y            # End-effector force in y direction
+int16 z            # End-effector force in x direction