diff --git a/lbr_fri_ros2/src/interfaces/torque_command.cpp b/lbr_fri_ros2/src/interfaces/torque_command.cpp
index 54f53a2b..cad5e2b2 100644
--- a/lbr_fri_ros2/src/interfaces/torque_command.cpp
+++ b/lbr_fri_ros2/src/interfaces/torque_command.cpp
@@ -36,6 +36,9 @@ void TorqueCommandInterface::buffered_command_to_fri(fri_command_t_ref command,
   }
   joint_position_filter_.compute(command_target_.joint_position, command_.joint_position);
 
+  command_.torque = command_target_.torque;
+  command_.joint_position = command_target_.joint_position;
+
   // validate
   if (!command_guard_->is_valid_command(command_, state)) {
     std::string err = "Invalid command.";