> ## Documentation Index
> Fetch the complete documentation index at: https://dadd.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# 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.

```tsx theme={null}
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.

```tsx theme={null}
api.setPaused(true);   // Pause
api.setPaused(false);  // Resume
```

<ParamField body="paused" type="boolean" required>
  Whether the simulation should be paused.
</ParamField>

## togglePause()

Toggle pause state. Returns the new paused state.

```tsx theme={null}
const isPaused = api.togglePause(); // true or false
```

**Returns:** `boolean` — the new paused state.

## step(n?)

Advance the simulation by `n` steps while paused.

```tsx theme={null}
api.step();    // Advance 1 step
api.step(10);  // Advance 10 steps
```

<ParamField body="n" type="number" default="1">
  Number of physics steps to advance.
</ParamField>

Has no effect if the simulation is not paused.

## setSpeed(multiplier)

Set the simulation speed multiplier.

```tsx theme={null}
api.setSpeed(2.0);  // 2× speed
api.setSpeed(0.5);  // Half speed
api.setSpeed(0.1);  // Slow motion
```

<ParamField body="multiplier" type="number" required>
  Speed multiplier. `1.0` = real-time, `0.5` = half speed, `2.0` = double speed.
</ParamField>

## getTime()

Get the current simulation time in seconds.

```tsx theme={null}
const t = api.getTime(); // e.g., 1.234
```

**Returns:** `number` — simulation time in seconds.

## getTimestep()

Get the current simulation timestep.

```tsx theme={null}
const dt = api.getTimestep(); // e.g., 0.002
```

**Returns:** `number` — timestep in seconds.