diff --git a/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp b/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp
index a90a4e8..f22f727 100644
--- a/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp
+++ b/mara_gazebo_plugins/src/mara_gazebo_joint_plugin.cpp
@@ -401,14 +401,21 @@ void MARAGazeboPluginRos::Load(gazebo::physics::ModelPtr _model, sdf::ElementPtr
 
 void MARAGazeboPluginRos::Reset()
 {
-
+  impl_->trajectories_position_axis1.clear();
+  impl_->trajectories_velocities_axis1.clear();
+  impl_->trajectories_position_axis2.clear();
+  impl_->trajectories_velocities_axis2.clear();
+  impl_->executing_axis1 = false;
+  impl_->executing_axis2 = false;
+  impl_->index_trajectory_axis1 = 0;
+  impl_->index_trajectory_axis2 = 0;
+  impl_->goal_position_axis1_rad = 0;
+  impl_->goal_position_axis2_rad = 0;
 }
 
 void MARAGazeboPluginRosPrivate::OnUpdate(const gazebo::common::UpdateInfo & _info)
 {
 
-  double seconds_since_last_update = (_info.simTime - last_update_time_).Double();
-
   if(!executing_axis1 && trajectories_position_axis1.size()>0){
     index_trajectory_axis1 = 0;
     executing_axis1 = true;