diff --git a/src/lerobot/robots/reachy2/robot_reachy2.py b/src/lerobot/robots/reachy2/robot_reachy2.py
index bf60f3014..7d250692b 100644
--- a/src/lerobot/robots/reachy2/robot_reachy2.py
+++ b/src/lerobot/robots/reachy2/robot_reachy2.py
@@ -143,16 +143,16 @@ class Reachy2Robot(Robot):
         pass
 
     def _generate_joints_dict(self) -> dict[str, str]:
-        self.joints = {}
+        joints = {}
         if self.config.with_neck:
-            self.joints.update(REACHY2_NECK_JOINTS)
+            joints.update(REACHY2_NECK_JOINTS)
         if self.config.with_l_arm:
-            self.joints.update(REACHY2_L_ARM_JOINTS)
+            joints.update(REACHY2_L_ARM_JOINTS)
         if self.config.with_r_arm:
-            self.joints.update(REACHY2_R_ARM_JOINTS)
+            joints.update(REACHY2_R_ARM_JOINTS)
         if self.config.with_antennas:
-            self.joints.update(REACHY2_ANTENNAS_JOINTS)
-        return self.joints
+            joints.update(REACHY2_ANTENNAS_JOINTS)
+        return joints
 
     def _get_state(self) -> dict[str, float]:
         if self.reachy is not None:
diff --git a/src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py b/src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py
index b790e9f4d..f9418dc58 100644
--- a/src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py
+++ b/src/lerobot/teleoperators/reachy2_fake_teleoperator/reachy2_fake_teleoperator.py
@@ -87,16 +87,16 @@ class Reachy2FakeTeleoperator(Teleoperator):
         self.joints_dict: dict[str, str] = self._generate_joints_dict()
 
     def _generate_joints_dict(self) -> dict[str, str]:
-        self.joints = {}
+        joints = {}
         if self.config.with_neck:
-            self.joints.update(REACHY2_NECK_JOINTS)
+            joints.update(REACHY2_NECK_JOINTS)
         if self.config.with_l_arm:
-            self.joints.update(REACHY2_L_ARM_JOINTS)
+            joints.update(REACHY2_L_ARM_JOINTS)
         if self.config.with_r_arm:
-            self.joints.update(REACHY2_R_ARM_JOINTS)
+            joints.update(REACHY2_R_ARM_JOINTS)
         if self.config.with_antennas:
-            self.joints.update(REACHY2_ANTENNAS_JOINTS)
-        return self.joints
+            joints.update(REACHY2_ANTENNAS_JOINTS)
+        return joints
 
     @property
     def action_features(self) -> dict[str, type]:
@@ -125,7 +125,6 @@ class Reachy2FakeTeleoperator(Teleoperator):
     def connect(self, calibrate: bool = True) -> None:
         self.reachy = ReachySDK(self.config.ip_address)
         if not self.is_connected:
-            print("Error connecting to Reachy 2.")
             raise ConnectionError()
         logger.info(f"{self} connected.")
 
@@ -141,12 +140,20 @@ class Reachy2FakeTeleoperator(Teleoperator):
 
     def get_action(self) -> dict[str, float]:
         start = time.perf_counter()
-        joint_action = {k: self.reachy.joints[v].goal_position for k, v in self.joints_dict.items()}
-        if not self.config.with_mobile_base:
-            dt_ms = (time.perf_counter() - start) * 1e3
-            logger.debug(f"{self} read action: {dt_ms:.1f}ms")
-            return joint_action
-        vel_action = {k: self.reachy.mobile_base.last_cmd_vel[v] for k, v in REACHY2_VEL.items()}
+
+        if self.reachy and self.is_connected:
+            joint_action = {
+                k: self.reachy.joints_dict[v].goal_position
+                for k, v in self.joints_dict.items()
+            }
+            if not self.config.with_mobile_base:
+                dt_ms = (time.perf_counter() - start) * 1e3
+                logger.debug(f"{self} read action: {dt_ms:.1f}ms")
+                return joint_action
+            vel_action = {
+                k: self.reachy.mobile_base.last_cmd_vel[v]
+                for k, v in REACHY2_VEL.items()
+            }
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read action: {dt_ms:.1f}ms")
         return {**joint_action, **vel_action}
@@ -156,4 +163,5 @@ class Reachy2FakeTeleoperator(Teleoperator):
         raise NotImplementedError
 
     def disconnect(self) -> None:
-        self.reachy.disconnect()
+        if self.reachy and self.is_connected:
+            self.reachy.disconnect()