diff --git a/src/lerobot/robots/reachy2/__init__.py b/src/lerobot/robots/reachy2/__init__.py
index c129bf755..1a38fd03b 100644
--- a/src/lerobot/robots/reachy2/__init__.py
+++ b/src/lerobot/robots/reachy2/__init__.py
@@ -15,4 +15,11 @@
 # limitations under the License.
 
 from .configuration_reachy2 import Reachy2RobotConfig
-from .robot_reachy2 import Reachy2Robot
+from .robot_reachy2 import (
+    REACHY2_ANTENNAS_JOINTS,
+    REACHY2_L_ARM_JOINTS,
+    REACHY2_NECK_JOINTS,
+    REACHY2_R_ARM_JOINTS,
+    REACHY2_VEL,
+    Reachy2Robot,
+)
diff --git a/src/lerobot/teleoperators/reachy2_teleoperator/__init__.py b/src/lerobot/teleoperators/reachy2_teleoperator/__init__.py
index 2a911e179..a07a4a6cd 100644
--- a/src/lerobot/teleoperators/reachy2_teleoperator/__init__.py
+++ b/src/lerobot/teleoperators/reachy2_teleoperator/__init__.py
@@ -15,4 +15,11 @@
 # limitations under the License.
 
 from .config_reachy2_teleoperator import Reachy2TeleoperatorConfig
-from .reachy2_teleoperator import Reachy2Teleoperator
+from .reachy2_teleoperator import (
+    REACHY2_ANTENNAS_JOINTS,
+    REACHY2_L_ARM_JOINTS,
+    REACHY2_NECK_JOINTS,
+    REACHY2_R_ARM_JOINTS,
+    REACHY2_VEL,
+    Reachy2Teleoperator,
+)
diff --git a/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py b/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py
index 245f2f6cc..5a427dd71 100644
--- a/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py
+++ b/src/lerobot/teleoperators/reachy2_teleoperator/reachy2_teleoperator.py
@@ -157,7 +157,6 @@ class Reachy2Teleoperator(Teleoperator):
         return {**joint_action, **vel_action}
 
     def send_feedback(self, feedback: dict[str, float]) -> None:
-        # TODO(rcadene, aliberts): Implement force feedback
         raise NotImplementedError
 
     def disconnect(self) -> None:
diff --git a/tests/robots/test_reachy2.py b/tests/robots/test_reachy2.py
index cd0513a19..c93fbeced 100644
--- a/tests/robots/test_reachy2.py
+++ b/tests/robots/test_reachy2.py
@@ -20,39 +20,21 @@ import numpy as np
 import pytest
 
 from lerobot.robots.reachy2 import (
+    REACHY2_ANTENNAS_JOINTS,
+    REACHY2_L_ARM_JOINTS,
+    REACHY2_NECK_JOINTS,
+    REACHY2_R_ARM_JOINTS,
+    REACHY2_VEL,
     Reachy2Robot,
     Reachy2RobotConfig,
 )
 
 # {lerobot_keys: reachy2_sdk_keys}
 REACHY2_JOINTS = {
-    "neck_yaw.pos": "head.neck.yaw",
-    "neck_pitch.pos": "head.neck.pitch",
-    "neck_roll.pos": "head.neck.roll",
-    "l_antenna.pos": "head.l_antenna",
-    "r_antenna.pos": "head.r_antenna",
-    "r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
-    "r_shoulder_roll.pos": "r_arm.shoulder.roll",
-    "r_elbow_yaw.pos": "r_arm.elbow.yaw",
-    "r_elbow_pitch.pos": "r_arm.elbow.pitch",
-    "r_wrist_roll.pos": "r_arm.wrist.roll",
-    "r_wrist_pitch.pos": "r_arm.wrist.pitch",
-    "r_wrist_yaw.pos": "r_arm.wrist.yaw",
-    "r_gripper.pos": "r_arm.gripper",
-    "l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
-    "l_shoulder_roll.pos": "l_arm.shoulder.roll",
-    "l_elbow_yaw.pos": "l_arm.elbow.yaw",
-    "l_elbow_pitch.pos": "l_arm.elbow.pitch",
-    "l_wrist_roll.pos": "l_arm.wrist.roll",
-    "l_wrist_pitch.pos": "l_arm.wrist.pitch",
-    "l_wrist_yaw.pos": "l_arm.wrist.yaw",
-    "l_gripper.pos": "l_arm.gripper",
-}
-
-REACHY2_VEL = {
-    "mobile_base.vx": "vx",
-    "mobile_base.vy": "vy",
-    "mobile_base.vtheta": "vtheta",
+    **REACHY2_NECK_JOINTS,
+    **REACHY2_ANTENNAS_JOINTS,
+    **REACHY2_R_ARM_JOINTS,
+    **REACHY2_L_ARM_JOINTS,
 }
 
 PARAMS = [
diff --git a/tests/teleoperators/test_reachy2_teleoperator.py b/tests/teleoperators/test_reachy2_teleoperator.py
index 69fc1df41..5130de87d 100644
--- a/tests/teleoperators/test_reachy2_teleoperator.py
+++ b/tests/teleoperators/test_reachy2_teleoperator.py
@@ -19,39 +19,21 @@ from unittest.mock import MagicMock, patch
 import pytest
 
 from lerobot.teleoperators.reachy2_teleoperator import (
+    REACHY2_ANTENNAS_JOINTS,
+    REACHY2_L_ARM_JOINTS,
+    REACHY2_NECK_JOINTS,
+    REACHY2_R_ARM_JOINTS,
+    REACHY2_VEL,
     Reachy2Teleoperator,
     Reachy2TeleoperatorConfig,
 )
 
 # {lerobot_keys: reachy2_sdk_keys}
 REACHY2_JOINTS = {
-    "neck_yaw.pos": "head.neck.yaw",
-    "neck_pitch.pos": "head.neck.pitch",
-    "neck_roll.pos": "head.neck.roll",
-    "l_antenna.pos": "head.l_antenna",
-    "r_antenna.pos": "head.r_antenna",
-    "r_shoulder_pitch.pos": "r_arm.shoulder.pitch",
-    "r_shoulder_roll.pos": "r_arm.shoulder.roll",
-    "r_elbow_yaw.pos": "r_arm.elbow.yaw",
-    "r_elbow_pitch.pos": "r_arm.elbow.pitch",
-    "r_wrist_roll.pos": "r_arm.wrist.roll",
-    "r_wrist_pitch.pos": "r_arm.wrist.pitch",
-    "r_wrist_yaw.pos": "r_arm.wrist.yaw",
-    "r_gripper.pos": "r_arm.gripper",
-    "l_shoulder_pitch.pos": "l_arm.shoulder.pitch",
-    "l_shoulder_roll.pos": "l_arm.shoulder.roll",
-    "l_elbow_yaw.pos": "l_arm.elbow.yaw",
-    "l_elbow_pitch.pos": "l_arm.elbow.pitch",
-    "l_wrist_roll.pos": "l_arm.wrist.roll",
-    "l_wrist_pitch.pos": "l_arm.wrist.pitch",
-    "l_wrist_yaw.pos": "l_arm.wrist.yaw",
-    "l_gripper.pos": "l_arm.gripper",
-}
-
-REACHY2_VEL = {
-    "mobile_base.vx": "vx",
-    "mobile_base.vy": "vy",
-    "mobile_base.vtheta": "vtheta",
+    **REACHY2_NECK_JOINTS,
+    **REACHY2_ANTENNAS_JOINTS,
+    **REACHY2_R_ARM_JOINTS,
+    **REACHY2_L_ARM_JOINTS,
 }
 
 PARAMS = [