update reset tutorial

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Sep 14, 2023 · 1980443 · 1980443
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commit 1980443
Showing 1 changed file with 6 additions and 5 deletions.
diff --git a/tutorials/reset_simulation.md b/tutorials/reset_simulation.md
@@ -9,18 +9,19 @@ In addition to the API, we have also expanded the simulation system API with a R
 System authors may now choose to implement the Reset interface to have a more intelligent
 reset process (avoiding reloading assets or regenerating scene graphs being the motivating examples).
 Since this interface is opt-in, systems that don't implement the API will still be reset via destruction and reconstruction.
-The [physics](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/physics/Physics.cc#L928-L937) and [rendering systems](https://github.com/gazebosim/gz-sim/blob/gz-sim8/src/systems/scene_broadcaster/SceneBroadcaster.cc#L452-L458) are the first two to implement this optimized reset functionality, with more to come as it makes sense to.
+The [physics](https://github.com/gazebosim/gz-sim/blob/23881936d93d335a2ad1086008416f1f36c3fdcc/src/systems/physics/Physics.cc#L919-L928) and [scene_broadcaster systems](https://github.com/gazebosim/gz-sim/blob/23881936d93d335a2ad1086008416f1f36c3fdcc/src/systems/scene_broadcaster/SceneBroadcaster.cc#L489-L495) are the first two to implement this optimized reset functionality, with more to come as it makes sense.
 
-Following the tutorial \subpage createsystemplugins we should implement `ISystemReset` interface.
+Follow the tutorial \subpage createsystemplugins to see how to support Reset by implementng the `ISystemReset` interface.
 
 ## Transport API
 
-To call the reset transport API we should call the service `/world/default/control` and fill the request message type
-`gz.msgs.WorldControl`, this service return a `gz.msgs.Boolean` with the status of the reset (true is everything was fine, false otherwise)
+To invoke reset over transport API, we should call the service `/world/<world_name>/control` and fill the request message type
+`gz.msgs.WorldControl`. This service returns a `gz.msgs.Boolean` with the status of the reset (true means everything was fine, false otherwise)
 
-The `WorldControl` message now contains a reset field that we should filled if we want to reset the world:
+The `WorldControl` message now contains a `reset` field for resetting the world:
 
 ```bash
+# this world name is `default` in this example
 gz service -s /world/default/control --reqtype gz.msgs.WorldControl --reptype gz.msgs.Boolean --timeout 3000 --req 'reset: {all: true}'
 ```