diff --git a/python/rcs/envs/base.py b/python/rcs/envs/base.py
index a13592d2..1cbfbb1f 100644
--- a/python/rcs/envs/base.py
+++ b/python/rcs/envs/base.py
@@ -280,7 +280,10 @@ def reset(
             if seed is not None:
                 # seed only once at the top of the stack
                 self.np_random, _ = seeding.np_random(seed)
-        return super().reset(seed=None, options=options)
+        re = super().reset(seed=None, options=options)
+        if self.env.get_wrapper_attr("PLATFORM") == RobotPlatform.SIMULATION:
+            self.sim.step(30)  # apply reset state
+        return re
 
 
 class RobotWrapper(ActObsInfoWrapper):