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You can run simulation paused and call to the /world/world_name/control Ignition service to step the simulation. Note that this is an Ignition Transport service, not a ROS service.
While running the simulation, I suggest you inspect this service using the command line, i.e.:
$ ign service -l
...
/world/default/control
...
And check the service info with
$ ign service -i -s /world/default/control
Resetting the simulation is not fully supported yet. Some systems can be reset, but physics can't. See this issue.
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