From 15fa86727f197bd3591524453a19b01a47732b72 Mon Sep 17 00:00:00 2001
From: Arjo Chakravarty <arjoc@intrinsic.ai>
Date: Wed, 8 Jan 2025 20:01:28 +0800
Subject: [PATCH] Add support for individual resets

Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
---
 include/gz/sim/Server.hh    |  4 ++++
 python/src/gz/sim/Server.cc |  4 +++-
 src/Server.cc               | 11 +++++++++++
 3 files changed, 18 insertions(+), 1 deletion(-)

diff --git a/include/gz/sim/Server.hh b/include/gz/sim/Server.hh
index ae49bd59f6..9867ca68d7 100644
--- a/include/gz/sim/Server.hh
+++ b/include/gz/sim/Server.hh
@@ -340,6 +340,10 @@ namespace gz
 
       /// \brief Reset all runners in this simulation
       public: void ResetAll();
+      /// \brief Reset a specific runner in this server
+      /// \param[in] runnerId - The runner which you want to reset
+      /// \ return False if the runner does not exist, true otherwise.
+      public: bool Reset(const std::size_t _runnerId);
 
       /// \brief Private data
       private: std::unique_ptr<ServerPrivate> dataPtr;
diff --git a/python/src/gz/sim/Server.cc b/python/src/gz/sim/Server.cc
index 7ece7ec090..b5688ece9b 100644
--- a/python/src/gz/sim/Server.cc
+++ b/python/src/gz/sim/Server.cc
@@ -48,7 +48,9 @@ void defineSimServer(pybind11::object module)
     pybind11::overload_cast<>(&gz::sim::Server::Running, pybind11::const_),
     "Get whether the server is running.")
   .def("reset_all", &gz::sim::Server::ResetAll,
-    "Resets all simulation runners under this server.");
+    "Resets all simulation runners under this server.")
+  .def("reset", &gz::sim::Server::Reset,
+    "Resets a specific simulation runner under this server.");
 }
 }  // namespace python
 }  // namespace sim
diff --git a/src/Server.cc b/src/Server.cc
index 602eb1e569..25497fa960 100644
--- a/src/Server.cc
+++ b/src/Server.cc
@@ -496,6 +496,17 @@ void Server::ResetAll()
   }
 }
 
+//////////////////////////////////////////////////
+bool Server::Reset(const std::size_t _runnerId)
+{
+  if (_runnerId >= this->dataPtr->simRunners.size())
+  {
+    return false;
+  }
+  this->dataPtr->simRunners[_runnerId]->Reset(true, false, false);
+  return true;
+}
+
 //////////////////////////////////////////////////
 void Server::Stop()
 {