Skip to content

Apply #6 to yaml for G1 with hands #8

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mqcmd196 merged 1 commit into from
May 15, 2026
Merged

Apply #6 to yaml for G1 with hands #8

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions g1_hardware/config/ros2_controllers_inspire_dfq.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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:
Expand All @@ -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:
Expand All @@ -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
Loading