diff --git a/source/autosim/autosim/core/pipeline.py b/source/autosim/autosim/core/pipeline.py
index 6416884..bf06cda 100644
--- a/source/autosim/autosim/core/pipeline.py
+++ b/source/autosim/autosim/core/pipeline.py
@@ -129,6 +129,7 @@ def reset_env(self) -> None:
         """Reset the environment."""
 
         self._env.reset()
+        self._env_extra_info.reset()
 
     def decompose(self) -> DecomposeResult:
         """Decompose the task."""
diff --git a/source/autosim/autosim/core/types.py b/source/autosim/autosim/core/types.py
index 9b3567c..019a0f0 100644
--- a/source/autosim/autosim/core/types.py
+++ b/source/autosim/autosim/core/types.py
@@ -89,6 +89,14 @@ class EnvExtraInfo:
     """The extra reach target poses in the objects frame. each object can have a list of extra reach target poses [x, y, z, qw, qx, qy, qz] with ee_name as the key in the order of execution."""
 
     def __post_init__(self):
+        self.reset()
+
+    def reset(self) -> None:
+        """Reset the environment extra information."""
+        self._reset_target_pose_iterators()
+
+    def _reset_target_pose_iterators(self) -> None:
+        """Reset internal iterators so target poses are consumed from the start."""
         self._object_reach_target_poses_iterator_dict = {
             object_name: self._build_iterator(reach_target_poses)
             for object_name, reach_target_poses in self.object_reach_target_poses.items()