Use mj_resetDataKeyframe to ensure all keyframe fields are used, remove redundant test file.

PiperOrigin-RevId: 607644409
Change-Id: I0528f9ba2c014141e1c7d5d55fa438b418c9fc3d

Author: erez-tom

mjpc/simulate.cc

@@ -1163,10 +1163,7 @@ void UiEvent(mjuiState* state) {
         sim->screenshotrequest.store(true);
         break;
       }
-    }
-
-    // option section
-    else if (it && it->sectionid==SECT_OPTION) {
+    } else if (it && it->sectionid == SECT_OPTION) {
       if (it->pdata == &sim->spacing) {
         sim->ui0.spacing = mjui_themeSpacing(sim->spacing);
         sim->ui1.spacing = mjui_themeSpacing(sim->spacing);
@@ -1184,37 +1181,16 @@ void UiEvent(mjuiState* state) {
       // modify UI
       UiModify(&sim->ui0, state, &sim->platform_ui->mjr_context());
       UiModify(&sim->ui1, state, &sim->platform_ui->mjr_context());
-    }
 
-    // simulation section
-    else if (it && it->sectionid==SECT_SIMULATION) {
+    } else if (it && it->sectionid == SECT_SIMULATION) {
       switch (it->itemid) {
       case 1:             // Reset
         if (m) {
-          mj_resetData(m, d);
+          mj_resetDataKeyframe(m, d, mj_name2id(m, mjOBJ_KEY, "home"));
           mj_forward(m, d);
           UpdateProfiler(sim);
           UpdateSensor(sim);
           UpdateSettings(sim);
-          // set initial qpos via keyframe
-          double* key_qpos = mjpc::KeyQPosByName(sim->mnew, sim->dnew,
-                                                 "home");
-          if (key_qpos) {
-            mju_copy(sim->dnew->qpos, key_qpos, sim->mnew->nq);
-          }
-          // set initial qvel via keyframe
-          double* key_qvel = mjpc::KeyQVelByName(sim->mnew, sim->dnew,
-                                                 "home");
-          if (key_qvel) {
-            mju_copy(sim->dnew->qvel, key_qvel, sim->mnew->nv);
-          }
-          // set initial act via keyframe
-          double* act = mjpc::KeyActByName(sim->mnew, sim->dnew,
-                                           "home");
-          if (act) {
-            mju_copy(sim->dnew->act, act, sim->mnew->na);
-          }
-
           sim->agent->PlotReset();
         }
         break;

mjpc/test/agent/agent_utilities_test.cc

@@ -201,20 +201,6 @@ TEST(AgentUtilitiesTest, ByName) {
   EXPECT_NEAR(qpos_home[0], 1.0, 1.0e-5);
   EXPECT_NEAR(qpos_home[1], 2.0, 1.0e-5);
 
-  // get invalid key qvel
-  double* qvel_invalid;
-  qvel_invalid = KeyQVelByName(model, data, "invalid");
-
-  EXPECT_EQ(qvel_invalid, nullptr);
-
-  // get "home" key qvel
-  double* qvel_home;
-  qvel_home = KeyQVelByName(model, data, "home");
-
-  EXPECT_NEAR(qvel_home[0], -1.0, 1.0e-5);
-  EXPECT_NEAR(qvel_home[1], -2.0, 1.0e-5);
-
-  // delete model + data
   mj_deleteData(data);
   mj_deleteModel(model);
 }
@@ -234,7 +220,21 @@ TEST(AgentUtilitiesTest, Clamp) {
   EXPECT_NEAR(x[2], 0.0, 1.0e-5);
 }
 
-TEST(AgentUtilitiesTest, FindInterval) {
+TEST(UtilitiesTest, LinearRange) {
+  double linear_sequence[4] = {0.2, 0.0, 0.0, 0.0};
+  int length = 4;
+  double step = 0.1;
+
+  LinearRange(linear_sequence, step, linear_sequence[0], length);
+
+  // test
+  EXPECT_NEAR(linear_sequence[0], 0.2, 1.0e-5);
+  EXPECT_NEAR(linear_sequence[1], 0.3, 1.0e-5);
+  EXPECT_NEAR(linear_sequence[2], 0.4, 1.0e-5);
+  EXPECT_NEAR(linear_sequence[3], 0.5, 1.0e-5);
+}
+
+TEST(UtilitiesTest, FindInterval) {
   // sequence
   std::vector<double> sequence{-1.0, 0.0, 1.0, 2.0};
   int length = 4;