Simulation Control

Reset, pause, step, and control simulation timing

Methods for controlling the simulation lifecycle and timing. Access via ref on MujocoCanvas or useMujoco().api inside R3F.

reset()

Reset the simulation to its initial state.

api.reset();

Applies homeJoints from the scene config (if set), runs mj_forward, and calls the onReset callback.

setPaused(paused)

Pause or resume the simulation.

api.setPaused(true);   // Pause
api.setPaused(false);  // Resume

paused · boolean · required

Whether the simulation should be paused.

togglePause()

Toggle pause state. Returns the new paused state.

const isPaused = api.togglePause(); // true or false

Returns: boolean — the new paused state.

step(n?)

Advance the simulation by n steps while paused.

api.step();    // Advance 1 step
api.step(10);  // Advance 10 steps

n · number · default: "1"

Number of physics steps to advance.

Has no effect if the simulation is not paused.

setSpeed(multiplier)

Set the simulation speed multiplier.

api.setSpeed(2.0);  // 2× speed
api.setSpeed(0.5);  // Half speed
api.setSpeed(0.1);  // Slow motion

multiplier · number · required

Speed multiplier. 1.0 = real-time, 0.5 = half speed, 2.0 = double speed.

getTime()

Get the current simulation time in seconds.

const t = api.getTime(); // e.g., 1.234

Returns: number — simulation time in seconds.

getTimestep()

Get the current simulation timestep.

const dt = api.getTimestep(); // e.g., 0.002

Returns: number — timestep in seconds.