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Scope reset-time control writes and history backfills to the reset environments, preserving other environments' delay buffers, lag schedules, and controls. Cover explicit and automatic resets, initialization, and builtin, fused, and learned actuator paths. Fixes mujocolab#1216
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Partial resets recomputed actuator controls for the whole batch, advancing delay histories and changing controls in environments whose physics had not advanced. Scope reset-time writes and history backfills to the reset environments, including learned actuator histories, while keeping one delay update per physics substep. Regression tests cover explicit and automatic resets, initialization, unchanged trajectories, and builtin/fused control paths. Validated with
make checkand CPUmake test(1094 passed, 13 skipped).Fixes #1216