diff --git a/src/lerobot/robots/reachy2/configuration_reachy2.py b/src/lerobot/robots/reachy2/configuration_reachy2.py
index 778390bc0..5beb79ffb 100644
--- a/src/lerobot/robots/reachy2/configuration_reachy2.py
+++ b/src/lerobot/robots/reachy2/configuration_reachy2.py
@@ -30,6 +30,7 @@ class Reachy2RobotConfig(RobotConfig):
     # the number of motors in your follower arms.
     max_relative_target: int | None = None
     ip_address: str | None = "localhost"
+    use_external_commands: bool = False
 
     # cameras
     cameras: dict[str, CameraConfig] = field(
diff --git a/src/lerobot/robots/reachy2/data_acquisition_server.py b/src/lerobot/robots/reachy2/data_acquisition_server.py
index bd9ad9133..8fc21214c 100644
--- a/src/lerobot/robots/reachy2/data_acquisition_server.py
+++ b/src/lerobot/robots/reachy2/data_acquisition_server.py
@@ -210,6 +210,7 @@ class DataAcquisitionServicer():
         self.robot_config = Reachy2RobotConfig(
             ip_address=request.robot.ip_address,
             id=request.robot.robot_id,
+            use_external_commands=True,
         )
         self.teleop_config = Reachy2FakeTeleoperatorConfig(
             ip_address=request.robot.ip_address,
@@ -328,10 +329,10 @@ class DataAcquisitionServicer():
         if not dataset_found:
             print(f"No dataset with name '{dataset.dataset_name}' found.")
             return
-    
+
         with open(json_filename, "w") as f:
             json.dump(data, f, indent=2)
-    
+
         print(f"Dataset '{dataset.dataset_name}' updated successfully.")
 
     def dict_to_dataset(self, d: Dict) -> Dataset:
diff --git a/src/lerobot/robots/reachy2/robot_reachy2.py b/src/lerobot/robots/reachy2/robot_reachy2.py
index a2d001696..115a0f1fc 100644
--- a/src/lerobot/robots/reachy2/robot_reachy2.py
+++ b/src/lerobot/robots/reachy2/robot_reachy2.py
@@ -74,6 +74,7 @@ class Reachy2Robot(Robot):
 
         self.config = config
         self.robot_type = self.config.type
+        self.use_external_commands = self.config.use_external_commands
 
         self.reachy: None | ReachySDK = None
         self.cameras = make_cameras_from_configs(config.cameras)
@@ -166,9 +167,10 @@ class Reachy2Robot(Robot):
                 self.reachy.joints[REACHY2_JOINTS[key]].goal_position = val
         self.reachy.mobile_base.set_goal_speed(vel["vx"], vel["vy"], vel["vtheta"])
 
-        # # We don't want the teleoperator reachy2_specific to send the goal positions
-        # self.reachy.send_goal_positions()
-        # self.reachy.send_speed_command()
+        # We don't send the goal positions if we control Reachy 2 externally
+        if not self.use_external_commands:
+            self.reachy.send_goal_positions()
+            self.reachy.mobile_base.send_speed_command()
 
         self.logs["write_pos_dt_s"] = time.perf_counter() - before_write_t
         return action