Fix jittery Unitree G1 motion during trajectory execution

[Michi-Tsubaki]

Summary

This PR fixes the jittery / trembling motion observed on the Unitree G1 during trajectory execution.

The joint_trajectory_controller configuration was updated to use velocity state feedback and to interpolate new trajectories from the desired state.

state_interfaces:
  - position
  - velocity

interpolate_from_desired_state: true

Background

On robots with relatively soft joint gains, such as the Unitree G1, the actual joint positions can deviate from the commanded positions due to gravity and compliance.

When new trajectories are interpolated from the measured joint state, this deviation can introduce discontinuities between the current command and the next trajectory. As a result, the robot may show jittery or trembling motion.

By enabling interpolate_from_desired_state, the controller starts interpolation from the previously commanded desired state instead of the measured joint state, resulting in smoother command transitions.

Result

After this change, the Unitree G1 executes trajectories smoothly and the previous trembling behavior is no longer observed.

Verification on Unitree G1

Attached videos:

• Before: trembling / jittery motion

20260511_185419.online-video-cutter.com.mp4

• After: smooth motion without visible trembling

20260511_190741.mp4

[Michi-Tsubaki]

(CC: @pazeshun )

[mqcmd196]

Thank you. Let me check this evening

[mqcmd196]

BTW, what interface did you use on taking the videos? MoveIt + RViz ? rqt_control ?

[Michi-Tsubaki]

BTW, what interface did you use on taking the videos? MoveIt + RViz ? rqt_control ?

I use jsk-ros-pkg/jsk_control#797 (sample of g1 / spacenav) using jsk-ros-pkg/jsk_robot#1947 (g1 model) while launching g1_ros bringup and activating ros2_control instructed in README in this repository.

I also used ros1_brdige (https://github.com/ros-o/ros1_bridge), just bridging all topics (this also bridge all action <-->actinlib )

ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

[mqcmd196]

Thanks~ 2026年5月13日(水) 14:13 Michitoshi Tsubaki ***@***.***>:

…

*Michi-Tsubaki* left a comment (mqcmd196/g1_ros#6) <#6 (comment)> BTW, what interface did you use on taking the videos? MoveIt + RViz ? rqt_control ? I use jsk-ros-pkg/jsk_control#797 <jsk-ros-pkg/jsk_control#797> (sample of g1 / spacenav) using jsk-ros-pkg/jsk_robot#1947 <jsk-ros-pkg/jsk_robot#1947> (g1 model) while launching g1_ros bringup and activating ros2_control instructed in README in this repository. I also used ros1_brdige (https://github.com/ros-o/ros1_bridge), just bridging all topics (this also bridge all action <-->actinlib ) ros2 run ros1_bridge dynamic_bridge --bridge-all-topics — Reply to this email directly, view it on GitHub <#6 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AGUARFER6UNZESS2ONWVOMT42P77PAVCNFSM6AAAAACY2C3FY2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHM2DIMZXGUZTGNJYGQ> . You are receiving this because you modified the open/close state.Message ID: ***@***.***>

-- /********************************************** * Yoshiki Obinata (大日方 慶樹) Ph.D. * Project Assistant Professor (特任助教) * JSK Robotics Lab, The Univ. of Tokyo * https://linktr.ee/obinata **********************************************/