diff --git a/node-hub/dora-reachy2/dora_reachy2/left_arm.py b/node-hub/dora-reachy2/dora_reachy2/left_arm.py
index 3fa7aeca..94977169 100644
--- a/node-hub/dora-reachy2/dora_reachy2/left_arm.py
+++ b/node-hub/dora-reachy2/dora_reachy2/left_arm.py
@@ -71,11 +71,11 @@ def l_arm_go_to_mixed_angles(reachy, x, y, z):
 
 def manage_gripper(reachy, gripper, grasp):
     """TODO: Add docstring."""
-    if (gripper == 100 and reachy.r_arm.gripper.get_current_opening() == 100) or (
+    if (gripper == 100 and reachy.l_arm.gripper.get_current_opening() == 100) or (
         gripper == 0.0
         and (
-            reachy.r_arm.gripper.get_current_opening() < 98
-            and reachy.r_arm.gripper.get_current_opening() > 2
+            reachy.l_arm.gripper.get_current_opening() < 98
+            and reachy.l_arm.gripper.get_current_opening() > 2
         )
         and grasp
     ):