From 6163daaaa4fa193d0e37468a94d90e07ef3c95ce Mon Sep 17 00:00:00 2001
From: Francesco Capuano <74058581+fracapuano@users.noreply.github.com>
Date: Thu, 22 May 2025 21:37:21 +0200
Subject: [PATCH] Fix: emptying action queue between resets (#1117)

---
 lerobot/common/robot_devices/control_utils.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/lerobot/common/robot_devices/control_utils.py b/lerobot/common/robot_devices/control_utils.py
index 76e264999..68f69487b 100644
--- a/lerobot/common/robot_devices/control_utils.py
+++ b/lerobot/common/robot_devices/control_utils.py
@@ -243,6 +243,11 @@ def control_loop(
 
     timestamp = 0
     start_episode_t = time.perf_counter()
+
+    # Controls starts, if policy is given it needs cleaning up
+    if policy is not None:
+        policy.reset()
+
     while timestamp < control_time_s:
         start_loop_t = time.perf_counter()