diff --git a/Robot_arm.cpp b/Robot_arm.cpp
index 1838b47..ed3c7b3 100644
--- a/Robot_arm.cpp
+++ b/Robot_arm.cpp
@@ -35,13 +35,14 @@ void goToHomePosition()
 
 void gripperControl(){
     while(true){
+        int slot = 2;
         std::vector<uint16_t> l_vCurrentJointTorque;
         _oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque);
         int angle = 0;
-        int var = l_vCurrentJointTorque[5];
+        int var = l_vCurrentJointTorque[slot];
         cout<<"initial torque value = "<<var<<endl;
-                while (var < 1100){
-                    int var = l_vCurrentJointTorque[5];
+                while (var < 2000){
+                    int var = l_vCurrentJointTorque[slot];
                     vector<uint16_t> l_vTargetJointPosition;
                     for (int l_joint = 0; l_joint < (_nbJoints-1); l_joint++)
                     {
@@ -52,7 +53,7 @@ void gripperControl(){
                     std::this_thread::sleep_for(std::chrono::milliseconds(200));
                     _oDxlHandler.readCurrentJointTorque(l_vCurrentJointTorque);
                     std::this_thread::sleep_for(std::chrono::milliseconds(200));
-                    cout<<"torque value: "<<l_vCurrentJointTorque[5]<<endl;
+                    cout<<"torque value: "<<l_vCurrentJointTorque[slot]<<endl;
                     angle ++;
                 }
                 cout<<"done!!!!!!!!!!!"<<endl;