How to reset rviz robot without restarting?

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Hello,

I have robot arm in rviz and gazebo. It can do movements via ros_control/rviz and then executes this in gazebo. Now I want to execute a movement, then reset the simulation to the exact same point as in the beginning, including simulation time. In gazebo this can be done by calling:

reset_simulation = rospy.ServiceProxy('/gazebo/reset_simulation', Empty)

reset_simulation()

However, when I call this, I get error Error Getting Feedback -- Check Connection from the launch file terminal, the robot starts doing random movements and I cannot run the code anymore. I think the robot, altough reset in Gazebo, needs to be reset in rviz/ROS/ros_control as well. Does this sound logical? How could I fix this issue?

Many thanks.