diff --git a/src/lerobot/rl/gym_manipulator.py b/src/lerobot/rl/gym_manipulator.py
index c09e67b9f..17fb0cefb 100644
--- a/src/lerobot/rl/gym_manipulator.py
+++ b/src/lerobot/rl/gym_manipulator.py
@@ -691,7 +691,7 @@ def control_loop(
             # Create a neutral action (no movement)
             neutral_action = torch.tensor([0.0, 0.0, 0.0], dtype=torch.float32)
             if use_gripper:
-                neutral_action = torch.cat([neutral_action, torch.tensor([0.0])])  # Gripper stay
+                neutral_action = torch.cat([neutral_action, torch.tensor([1.0])])  # Gripper stay
 
             transition = step_env_and_process_transition(
                 env=env,