diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 29862f70e4..6fadbbdace 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -37,7 +37,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.16.0
+    rev: v3.17.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -133,7 +133,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.6
+    rev: 0.29.1
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]
diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
index 6e29b574a2..a4b56d739c 100644
--- a/admittance_controller/src/admittance_controller.cpp
+++ b/admittance_controller/src/admittance_controller.cpp
@@ -476,13 +476,13 @@ 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();
@@ -528,15 +528,15 @@ 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;