diff --git a/src/lerobot/rl/gym_manipulator.py b/src/lerobot/rl/gym_manipulator.py
index e86ba3c99..13370770b 100644
--- a/src/lerobot/rl/gym_manipulator.py
+++ b/src/lerobot/rl/gym_manipulator.py
@@ -690,7 +690,7 @@ 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
 
         # Use the new step function
         transition = step_env_and_process_transition(