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Fix: emptying action queue between resets (#1117)

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Francesco Capuano
2025-05-22 21:37:21 +02:00
committed by GitHub
parent 8e2a394442
commit 6163daaaa4
1 changed files with 5 additions and 0 deletions
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5
lerobot/common/robot_devices/control_utils.py
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@@ -243,6 +243,11 @@ def control_loop(
timestamp = 0 timestamp = 0
start_episode_t = time.perf_counter() 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: while timestamp < control_time_s:
start_loop_t = time.perf_counter() start_loop_t = time.perf_counter()