From af98c7d2da8ded7b6481e618e09649cc9f6af659 Mon Sep 17 00:00:00 2001
From: Michitoshi Tsubaki <tsubaki@jsk.t.u-tokyo.ac.jp>
Date: Tue, 12 May 2026 12:37:54 +0900
Subject: [PATCH] Change interpolation method in controller.yaml

---
 g1_hardware/config/ros2_controllers_no_hand.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/g1_hardware/config/ros2_controllers_no_hand.yaml b/g1_hardware/config/ros2_controllers_no_hand.yaml
index 49a2f41..5e5bb33 100644
--- a/g1_hardware/config/ros2_controllers_no_hand.yaml
+++ b/g1_hardware/config/ros2_controllers_no_hand.yaml
@@ -33,3 +33,4 @@ upper_body_controller:
     state_interfaces:
       - position
       - velocity
+    interpolate_from_desired_state: true