diff --git a/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp b/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp
index c79db267..a06c6911 100644
--- a/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp
+++ b/legged_examples/legged_unitree/legged_unitree_hw/src/UnitreeHW.cpp
@@ -83,12 +83,12 @@ void UnitreeHW::read(const ros::Time& time, const ros::Duration& /*period*/) {
   }
 
   // Set feedforward and velocity cmd to zero to avoid for safety when not controller setCommand
-  std::vector<std::string> names = hybridJointInterface_.getNames();
-  for (const auto& name : names) {
-    HybridJointHandle handle = hybridJointInterface_.getHandle(name);
-    handle.setFeedforward(0.);
-    handle.setVelocityDesired(0.);
-    handle.setKd(3.);
+  for(size_t i=0; i<12; ++i){
+    jointData_[i].posDes_ = jointData_[i].pos_;
+    jointData_[i].velDes_ = jointData_[i].vel_;
+    jointData_[i].ff_ = 0.0;
+    jointData_[i].kp_ = 0.0;
+    jointData_[i].kd_ = 0.0;
   }
 
   updateJoystick(time);