diff --git a/src/rl_sar/include/rl_real.hpp b/src/rl_sar/include/rl_real.hpp
index 1fc5690..c691843 100644
--- a/src/rl_sar/include/rl_real.hpp
+++ b/src/rl_sar/include/rl_real.hpp
@@ -67,8 +67,8 @@ private:
     std::vector<double> joint_positions;
     std::vector<double> joint_velocities;
 
-    int dof_mapping[13] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8};
-    int hip_scale_reduction_indices[] = {0, 3, 6, 9};
+    int dof_mapping[12] = {3, 4, 5, 0, 1, 2, 9, 10, 11, 6, 7, 8};
+    int hip_scale_reduction_indices[4] = {0, 3, 6, 9};
 
     std::chrono::high_resolution_clock::time_point start_time;
 
diff --git a/src/rl_sar/include/rl_sim.hpp b/src/rl_sar/include/rl_sim.hpp
index 8d2d77c..7fa12a0 100644
--- a/src/rl_sar/include/rl_sim.hpp
+++ b/src/rl_sar/include/rl_sim.hpp
@@ -58,7 +58,7 @@ private:
     std::vector<double> joint_positions;
     std::vector<double> joint_velocities;
 
-    int hip_scale_reduction_indices[] = {0, 3, 6, 9};
+    int hip_scale_reduction_indices[4] = {0, 3, 6, 9};
 
     std::chrono::high_resolution_clock::time_point start_time;