diff --git a/src/rl_sar/src/rl_real_a1.cpp b/src/rl_sar/src/rl_real_a1.cpp
index 3f54ddd..14a903c 100644
--- a/src/rl_sar/src/rl_real_a1.cpp
+++ b/src/rl_sar/src/rl_real_a1.cpp
@@ -139,7 +139,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
 
 void RL_Real::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     this->motiontime++;
 
@@ -150,7 +150,7 @@ void RL_Real::RobotControl()
 
 void RL_Real::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING)
     {
diff --git a/src/rl_sar/src/rl_real_go2.cpp b/src/rl_sar/src/rl_real_go2.cpp
index c19d4ba..667aac9 100644
--- a/src/rl_sar/src/rl_real_go2.cpp
+++ b/src/rl_sar/src/rl_real_go2.cpp
@@ -144,7 +144,7 @@ void RL_Real::SetCommand(const RobotCommand<double> *command)
 
 void RL_Real::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     this->motiontime++;
 
@@ -155,7 +155,7 @@ void RL_Real::RobotControl()
 
 void RL_Real::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING)
     {
diff --git a/src/rl_sar/src/rl_sim.cpp b/src/rl_sar/src/rl_sim.cpp
index 4030741..e963001 100644
--- a/src/rl_sar/src/rl_sim.cpp
+++ b/src/rl_sar/src/rl_sim.cpp
@@ -180,7 +180,7 @@ void RL_Sim::SetCommand(const RobotCommand<double> *command)
 
 void RL_Sim::RobotControl()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     // if (this->control.control_state == STATE_RESET_SIMULATION)
     // {
@@ -267,7 +267,7 @@ void RL_Sim::RobotStateCallback(const robot_msgs::msg::RobotState::SharedPtr msg
 
 void RL_Sim::RunModel()
 {
-    std::lock_guard<std::mutex> lock(robot_state_mutex);
+    // std::lock_guard<std::mutex> lock(robot_state_mutex); // TODO will cause thread timeout
 
     if (this->running_state == STATE_RL_RUNNING && simulation_running)
     {