diff --git a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp
index 6e7394fdbb9..38f0555076e 100644
--- a/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp
+++ b/Sofa/framework/Core/src/sofa/core/objectmodel/BaseObject.cpp
@@ -324,7 +324,12 @@ void BaseObject::reset()
 { }
 
 void BaseObject::cleanup()
-{ }
+{
+    while (!l_slaves.empty())
+    {
+        removeSlave(l_slaves.getValue().front());
+    }
+}
 
 void BaseObject::handleEvent( Event* /*e*/ )
 { }