diff --git a/src/lerobot/robots/reachy2/test_replay.py b/src/lerobot/robots/reachy2/test_replay.py
index c8d1951fe..6bcb3249b 100644
--- a/src/lerobot/robots/reachy2/test_replay.py
+++ b/src/lerobot/robots/reachy2/test_replay.py
@@ -44,6 +44,8 @@ l_arm_goal = [action["l_shoulder_pitch.pos"],
 
 robot.reachy.head.goto(neck_goal)
 robot.reachy.r_arm.goto(r_arm_goal)
+robot.reachy.r_arm.gripper.goto(100.0, percentage=True)
+robot.reachy.l_arm.gripper.goto(100.0, percentage=True)
 robot.reachy.l_arm.goto(l_arm_goal, wait=True)
 
 for idx in range(dataset.num_frames):