diff --git a/lerobot/configs/env/dora_reachy2_real.yaml b/lerobot/configs/env/dora_reachy2_real.yaml
index d1a53a7f..37630225 100644
--- a/lerobot/configs/env/dora_reachy2_real.yaml
+++ b/lerobot/configs/env/dora_reachy2_real.yaml
@@ -5,8 +5,8 @@ fps: 30
 env:
   name: dora
   task: DoraReachy2-v0
-  state_dim: 16
-  action_dim: 16
+  state_dim: 22
+  action_dim: 22
   fps: ${fps}
   episode_length: 400
   gym: