diff --git a/nav2_mppi_controller/src/optimizer.cpp b/nav2_mppi_controller/src/optimizer.cpp
index ecabc483884..6acbd6223c0 100644
--- a/nav2_mppi_controller/src/optimizer.cpp
+++ b/nav2_mppi_controller/src/optimizer.cpp
@@ -147,6 +147,8 @@ void Optimizer::reset()
   generated_trajectories_.reset(settings_.batch_size, settings_.time_steps);
 
   noise_generator_.reset(settings_, isHolonomic());
+  motion_model_->initialize(settings_.constraints, settings_.model_dt);
+
   RCLCPP_INFO(logger_, "Optimizer reset");
 }