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## Summary During the reset audit, the `Buoyancy` plugin failed the tests. After an environment reset, the model didn’t consistently return to its early-episode trajectory. ## Test logic 1. Recorded an early trajectory window of a model in `graded_buoyancy.sdf` before resetting. 2. Let the simulation run for a while, ensuring the system moves explicitly away from its initial state. 3. Executed a world reset. 4. Recorded the post-reset trajectory for the exact same early-episode time window. 5. Compared both trajectories to ensure they match identically, confirming whether the reset successfully brought the system back to a clean initial state. ## Root cause The issue stems from how `Buoyancy` tracks the running state of links. It originally relied on the `EachNew` entity scan to fetch and cache components like `Volume` and `CenterOfVolume`. When the world resets, the entities are restored but they aren't strictly considered "new" again by the `ECM`. This led to broken buoyancy states where required components couldn't be reliably rebuilt on reset. ## Fix logic 1. Add ISystemReset for the `Buoyancy` 2. Clear the cached states: `centerOfVolumes`,`volumes` and `buoyancyForces` 3. Introduce a `rescanEntities` flag. Once a reset occurs, this flag triggers a fresh, full entity component scan in the very next `PreUpdate` step, gracefully recovering the required runtime components. Signed-off-by: momo <2438833481@qq.com> * remove unusable variable Signed-off-by: momo <2438833481@qq.com> * reinside common helper and change to ResetAll to observe behaviours Signed-off-by: momo <2438833481@qq.com> * remove wrapper and clear the design edge Signed-off-by: momo <2438833481@qq.com> * remove MsgReceiver and use Subscription.hh Signed-off-by: momo <2438833481@qq.com> * fix reset_sensors Signed-off-by: momo <2438833481@qq.com> * add reset test for Buoyancy Signed-off-by: momo <2438833481@qq.com> * Fix Buoyancy Reset Signed-off-by: momo <2438833481@qq.com> * use ResetAll() to reset Signed-off-by: momo <2438833481@qq.com> --------- Signed-off-by: momo <2438833481@qq.com>
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