diff --git a/gymnasium/envs/mujoco/hopper_v4.py b/gymnasium/envs/mujoco/hopper_v4.py
index 1909cd4cf..895acb329 100644
--- a/gymnasium/envs/mujoco/hopper_v4.py
+++ b/gymnasium/envs/mujoco/hopper_v4.py
@@ -34,7 +34,7 @@ class HopperEnv(MujocoEnv, utils.EzPickle):
     |-----|------------------------------------|-------------|-------------|----------------------------------|-------|--------------|
     | 0   | Torque applied on the thigh rotor  | -1          | 1           | thigh_joint                      | hinge | torque (N m) |
     | 1   | Torque applied on the leg rotor    | -1          | 1           | leg_joint                        | hinge | torque (N m) |
-    | 3   | Torque applied on the foot rotor   | -1          | 1           | foot_joint                       | hinge | torque (N m) |
+    | 2   | Torque applied on the foot rotor   | -1          | 1           | foot_joint                       | hinge | torque (N m) |
 
     ## Observation Space