diff --git a/src/lerobot/robots/reachy2/robot_reachy2.py b/src/lerobot/robots/reachy2/robot_reachy2.py
index 4a90b7031..7e9575e44 100644
--- a/src/lerobot/robots/reachy2/robot_reachy2.py
+++ b/src/lerobot/robots/reachy2/robot_reachy2.py
@@ -87,6 +87,7 @@ class Reachy2Robot(Robot):
         self.logs = {}
 
         self.joints_dict: dict[str, str] = {}
+        self.generate_joints_dict()
 
     @property
     def observation_features(self) -> dict: