diff --git a/rai_app/agents/tools.py b/rai_app/agents/tools.py
index 7de1886..e5d5466 100644
--- a/rai_app/agents/tools.py
+++ b/rai_app/agents/tools.py
@@ -887,6 +887,10 @@ def housekeep(self, rack: str):
                     pos, collection_name=rack, approach_distance=self.approach_distance
                 )
             except RuntimeError as e:
+                if "arm" in str(
+                    e
+                ):  # don't count moveit related exceptions as "side not available"
+                    raise e
                 sides_not_available += 1
                 logging.warning(e)
             except Exception as e:
diff --git a/rai_app/environment/scene_manager.py b/rai_app/environment/scene_manager.py
index e7c5dda..f6771cc 100644
--- a/rai_app/environment/scene_manager.py
+++ b/rai_app/environment/scene_manager.py
@@ -317,6 +317,15 @@ def clear_scene(self):
                 timeout_sec=3.0,
             )
 
+    def reset_simulation(self):
+        wait_for_ros2_services(self.connector, ["/reset_simulation"])
+        self.connector.call_service(
+            ROS2Message(payload={}),
+            target="/reset_simulation",
+            msg_type="simulation_interfaces/srv/ResetSimulation",
+            timeout_sec=10.0,
+        )
+
     def move_entity(
         self,
         entity_name,
diff --git a/tests/test_housekeep.py b/tests/test_housekeep.py
index 7a68782..016addf 100644
--- a/tests/test_housekeep.py
+++ b/tests/test_housekeep.py
@@ -79,4 +79,5 @@ def test_single_box_housekeeping(
         result = housekeep_tool._run(rack)
         assert "successfully" in result, f"HouseKeepTool failed: {result}"
     except Exception as e:
+        scene_manager.reset_simulation()
         pytest.fail(f"HouseKeepTool failed: {e}")