diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
index c6a8168736..22d25bb8b1 100644
--- a/admittance_controller/src/admittance_controller.cpp
+++ b/admittance_controller/src/admittance_controller.cpp
@@ -480,13 +480,13 @@ void AdmittanceController::read_state_from_hardware(
         state_interfaces_[pos_ind * num_joints_ + joint_ind].get_value();
       nan_position |= std::isnan(state_current.positions[joint_ind]);
     }
-    else if (has_velocity_state_interface_)
+    if (has_velocity_state_interface_)
     {
       state_current.velocities[joint_ind] =
         state_interfaces_[vel_ind * num_joints_ + joint_ind].get_value();
       nan_velocity |= std::isnan(state_current.velocities[joint_ind]);
     }
-    else if (has_acceleration_state_interface_)
+    if (has_acceleration_state_interface_)
     {
       state_current.accelerations[joint_ind] =
         state_interfaces_[acc_ind * num_joints_ + joint_ind].get_value();
@@ -532,15 +532,15 @@ void AdmittanceController::write_state_to_hardware(
       command_interfaces_[pos_ind * num_joints_ + joint_ind].set_value(
         state_commanded.positions[joint_ind]);
     }
-    else if (has_velocity_command_interface_)
+    if (has_velocity_command_interface_)
     {
       command_interfaces_[vel_ind * num_joints_ + joint_ind].set_value(
-        state_commanded.positions[joint_ind]);
+        state_commanded.velocities[joint_ind]);
     }
-    else if (has_acceleration_command_interface_)
+    if (has_acceleration_command_interface_)
     {
       command_interfaces_[acc_ind * num_joints_ + joint_ind].set_value(
-        state_commanded.positions[joint_ind]);
+        state_commanded.accelerations[joint_ind]);
     }
   }
   last_commanded_ = state_commanded;