diff --git a/robosuite/models/grippers/jaco_three_finger_gripper.py b/robosuite/models/grippers/jaco_three_finger_gripper.py
index 12b3625e10..3a379a37dc 100644
--- a/robosuite/models/grippers/jaco_three_finger_gripper.py
+++ b/robosuite/models/grippers/jaco_three_finger_gripper.py
@@ -76,7 +76,7 @@ def speed(self):
 
     @property
     def dof(self):
-        return 3
+        return 1
 
 
 class JacoThreeFingerDexterousGripper(JacoThreeFingerGripperBase):