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Hi,

Sorry about that, we're in the process of updating our documentation/tutorials but they are still out of date, using the old non-standard interface. We tried to now make our code closer to the one of the pr2. This means that the controllers can be accessed on the following topics:

/sh_ffj0_mixed_position_velocity_controller/command
/sh_ffj3_mixed_position_velocity_controller/command
/sh_ffj4_mixed_position_velocity_controller/command
etc...

The /joint_states topic is not a command topic, it gives you the position/velocity/effort for each joint.

Hope this helps.

Cheers,