f

python/gym_jiminy/common/gym_jiminy/common/envs/generic.py

@@ -844,7 +844,7 @@ def reset(self,  # type: ignore[override]
         if self.simulator.is_viewer_available:
             viewer = self.simulator.viewer
             assert viewer is not None  # Assert(s) for type checker
-            viewer._setup(self.robot)
+            viewer._setup(self.robot)  # type: ignore[attr-defined]
             if viewer.has_gui():
                 viewer.refresh()
 
@@ -1190,7 +1190,7 @@ def _interact(key: Optional[str] = None) -> bool:
 
         # Stop the simulation to unlock the robot.
         # It will enable to display contact forces for replay.
-        if self.engine.is_simulation_running:
+        if self.simulator.is_simulation_running:
             self.simulator.stop()
 
         # Disable play interactive mode flag and restore training flag

python/gym_jiminy/common/gym_jiminy/common/envs/locomotion.py

@@ -191,7 +191,8 @@ def __init__(self,
             # Load engine and robot options
             if config_path is None:
                 if isinstance(robot, BaseJiminyRobot):
-                    urdf_path = robot._urdf_path_orig
+                    urdf_path = (
+                        robot._urdf_path_orig)  # type: ignore[attr-defined]
                 else:
                     urdf_path = robot.urdf_path
                 if not urdf_path: