diff --git a/ros2/src/franka_gello_state_publisher/franka_gello_state_publisher/gello_publisher.py b/ros2/src/franka_gello_state_publisher/franka_gello_state_publisher/gello_publisher.py
index 1a5b2ce..68f36fa 100644
--- a/ros2/src/franka_gello_state_publisher/franka_gello_state_publisher/gello_publisher.py
+++ b/ros2/src/franka_gello_state_publisher/franka_gello_state_publisher/gello_publisher.py
@@ -71,7 +71,7 @@ class GelloPublisher(Node):
         self.gripper: bool = config[self.port]["gripper"]
         """Whether or not the gripper is attached."""
 
-        joint_ids = list(range(1, self.num_joints + 1))
+        joint_ids = list(range(1, self.num_joints))
         self.driver = DynamixelDriver(joint_ids, port=self.com_port, baudrate=2000000)
         """The driver for the Dynamixel motors."""