diff --git a/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp b/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
index 3ce21bffe6..97f1907211 100644
--- a/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
+++ b/moveit_setup_assistant/moveit_setup_controllers/src/ros2_controllers_config.cpp
@@ -192,7 +192,7 @@ bool ROS2ControllersConfig::GeneratedControllersConfig::writeYaml(YAML::Emitter&
       emitter << YAML::Value;
       emitter << YAML::BeginMap;
       {
-        if (ci.joints_.size() != 1)
+        if (ci.type_ != "position_controllers/GripperActionController")
         {
           emitter << YAML::Key << "joints" << YAML::Value << ci.joints_;
         }