Refactor StepControl and GUI to return change status.

StepControl methods SetSpeed, SetNoiseParameters, and SetPauseState now return a boolean indicating whether the state was actually changed. The GUI functions NoiseGui and StepControlGui also return a boolean reflecting if any parameters were modified. Noise parameters are now directly managed by StepControl rather than being stored in UxState. The StepControlEvent message has been expanded to include all step control parameters. Keyboard event handling has been slightly refactored to better align with event-based updates.

PiperOrigin-RevId: 940656342
Change-Id: I3701623a2fdcfc4c084b5db0ae19048669040de4

python/mujoco/experimental/studio/studio_app_events.py

@@ -140,16 +140,12 @@ def handle_vis_options_keyboard_events(
 
 
 def handle_step_control_keyboard_events(
-    model: mujoco.MjModel,
-    data: mujoco.MjData,
     step_control: sim.StepControl,
     ux_state: ux.UxState,
 ) -> bool:
   """Handles keyboard shortcuts for simulation stepping control.
 
   Args:
-    model: The MuJoCo model.
-    data: The MuJoCo data.
     step_control: The simulation step control object.
     ux_state: The UX state object.
 
@@ -174,17 +170,30 @@ def handle_step_control_keyboard_events(
     else:
       step_control.set_pause_state(sim.PauseState.UNPAUSED)
     return True
-  elif pressed(imgui.Key.Backspace):
+  elif pressed(imgui.Key.Minus):
+    ux_state.speed_index = ux.set_speed_index(
+        step_control, ux_state.speed_index, ux_state.speed_index + 1
+    )
+    return True
+  elif pressed(imgui.Key.Equal):
+    ux_state.speed_index = ux.set_speed_index(
+        step_control, ux_state.speed_index, ux_state.speed_index - 1
+    )
+    return True
+
+  return False
+
+
+def handle_reset_keyboard_events(
+    model: mujoco.MjModel, data: mujoco.MjData
+) -> bool:
+  """Handles keyboard shortcuts for simulation reset."""
+
+  if imgui.IsKeyChordPressed(imgui.Key.Backspace):
     if model is not None and data is not None:
       mujoco.mj_resetData(model, data)
       mujoco.mj_forward(model, data)
-    return True
-  elif pressed(imgui.Key.Minus):
-    ux.set_speed_index(step_control, ux_state, ux_state.speed_index + 1)
-    return True
-  elif pressed(imgui.Key.Equal):
-    ux.set_speed_index(step_control, ux_state, ux_state.speed_index - 1)
-    return True
+      return True
 
   return False
 
@@ -362,7 +371,10 @@ def handle_keyboard_events(
     return False, cam_speed
 
   is_freecam_wasd = ux_state.camera_index == ux.FREE_CAMERA_IDX
-  if handle_step_control_keyboard_events(model, data, step_control, ux_state):
+  if handle_step_control_keyboard_events(step_control, ux_state):
+    return True, cam_speed
+
+  if handle_reset_keyboard_events(model, data):
     return True, cam_speed
 
   if handle_camera_select_keyboard_events(model, camera, ux_state):