Fix: emptying action queue between resets (#1117)

2025-05-22 21:37:21 +02:00 · 2025-05-22 21:37:21 +02:00 · 6163daaaa4
commit 6163daaaa4
parent 8e2a394442
1 changed files with 5 additions and 0 deletions
--- 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()