diff --git a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py
index d11f978490f72f4f3f41d854971b6f27c0358e51..6bba85b4cc461ac431c44dcd6cb7ba94a538d01a 100644
--- a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py
+++ b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/simulation.py
@@ -844,6 +844,10 @@ class Simulation(object):
 
         assert isinstance(reset_type, (str, unicode))
 
+        # NRRPLT-7855
+        if reset_type in ['full', 'world']:
+            raise ValueError('Reset %s temporarily disabled due to known Gazebo issue' % reset_type)
+
         if reset_type not in self.__config['reset-services'].keys():
             raise ValueError('Undefined reset type. Possible values are: %s'
                              % ", ".join(self.__config['reset-services'].keys()))
diff --git a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/tests/test_simulation.py b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/tests/test_simulation.py
index 2e7ee9ced60d16055667eb35761263237e67cc16..a69ff870915c85a8d6a836205e203612707ffe32 100644
--- a/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/tests/test_simulation.py
+++ b/hbp_nrp_virtual_coach/hbp_nrp_virtual_coach/tests/test_simulation.py
@@ -623,16 +623,20 @@ class TestSimulation(unittest.TestCase):
         self._sim._Simulation__http_client.put = Mock()
         self._sim._Simulation__http_client.put.return_value = (httplib.OK, None)
 
-        self._sim.reset('world')
-        self._sim._Simulation__http_client.put.assert_called_once()
+        # NRRPLT-7855
+        self.assertRaises(ValueError, self._sim.reset, 'world')
+        # self._sim.reset('world')
+        # self._sim._Simulation__http_client.put.assert_called_once()
 
         self._sim._Simulation__http_client.put.return_value = (httplib.NOT_FOUND,
                                                              None)
         self._sim.start = Mock()
 
         self.assertRaises(ValueError, self._sim.reset, 'foo')
-        self.assertRaises(Exception, self._sim.reset, 'full')
-        self._sim.start.assert_called_once()
+        # NRRPLT-7855
+        self.assertRaises(ValueError, self._sim.reset, 'full')
+        # self.assertRaises(Exception, self._sim.reset, 'full')
+        # self._sim.start.assert_called_once()
 
     def test_get_csv_last_run_file(self):
         self._sim._Simulation__vc = Mock()