diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
index 1af4e1317f..3f470b177d 100644
--- a/admittance_controller/src/admittance_controller.cpp
+++ b/admittance_controller/src/admittance_controller.cpp
@@ -491,13 +491,13 @@ 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();