From cda570886db76013991f5f63f1f0ffc1c5c595e6 Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Thu, 14 May 2026 00:28:12 +0900 Subject: [PATCH] Apply https://github.com/mqcmd196/g1_ros/pull/6 to yaml for G1 with hands --- g1_hardware/config/ros2_controllers_inspire_dfq.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/g1_hardware/config/ros2_controllers_inspire_dfq.yaml b/g1_hardware/config/ros2_controllers_inspire_dfq.yaml index f976826..603f5c1 100644 --- a/g1_hardware/config/ros2_controllers_inspire_dfq.yaml +++ b/g1_hardware/config/ros2_controllers_inspire_dfq.yaml @@ -39,6 +39,7 @@ upper_body_controller: state_interfaces: - position - velocity + interpolate_from_desired_state: true # DFQ actuated joints only (mimic: intermediate/distal joints excluded) right_hand_controller: @@ -55,6 +56,7 @@ right_hand_controller: state_interfaces: - position - velocity + interpolate_from_desired_state: true # This reduces the problems caused by https://github.com/mqcmd196/g1_ros/issues/7. Once this issue is fixed, check if this line can be removed left_hand_controller: ros__parameters: @@ -70,3 +72,4 @@ left_hand_controller: state_interfaces: - position - velocity + interpolate_from_desired_state: true # This reduces the problems caused by https://github.com/mqcmd196/g1_ros/issues/7. Once this issue is fixed, check if this line can be removed