diff --git a/openrpc.json b/openrpc.json
index b61e5b3..6cacc37 100644
--- a/openrpc.json
+++ b/openrpc.json
@@ -261,6 +261,166 @@
           "description": "Keys are relative file paths, values are YAML file contents as strings"
         }
       }
+    },
+    {
+      "name": "sim.emergency.set",
+      "summary": "Trigger or clear a latched emergency in the simulator.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "active",
+          "description": "true triggers a latched emergency, false clears it.",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.movement.set",
+      "summary": "Allow or block physical movement to simulate a stuck robot.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "allowed",
+          "description": "true = robot moves normally, false = robot is stuck.",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.battery.set",
+      "summary": "Set the simulated battery pack voltage.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "voltage",
+          "description": "Exact pack voltage to set (V).",
+          "required": true,
+          "schema": {
+            "type": "number"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.gps.set",
+      "summary": "Set the simulated GPS quality.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "good",
+          "description": "true = RTK fix (~2 cm), false = no RTK fix (~1 m).",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.joy_override.set",
+      "summary": "Enable or disable joystick (manual drive) override in the simulator.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "enabled",
+          "description": "true = joystick override active (manual drive), false = normal autonomous operation.",
+          "required": true,
+          "schema": {
+            "type": "boolean"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.dock.move",
+      "summary": "Drive the simulated robot onto the dock and start charging.",
+      "params": [],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
+    },
+    {
+      "name": "sim.displace",
+      "summary": "Teleport the robot by (dx, dy) meters and dheading radians to simulate a GPS jump.",
+      "paramStructure": "by-name",
+      "params": [
+        {
+          "name": "dx",
+          "description": "X offset in meters (default 0).",
+          "required": false,
+          "schema": {
+            "type": "number"
+          }
+        },
+        {
+          "name": "dy",
+          "description": "Y offset in meters (default 0).",
+          "required": false,
+          "schema": {
+            "type": "number"
+          }
+        },
+        {
+          "name": "dheading",
+          "description": "Heading offset in radians (default 0).",
+          "required": false,
+          "schema": {
+            "type": "number"
+          }
+        }
+      ],
+      "result": {
+        "name": "result",
+        "description": "No result is returned if successful.",
+        "schema": {
+          "type": "null"
+        }
+      }
     }
   ]
 }
diff --git a/src/components/map/MowerMap.tsx b/src/components/map/MowerMap.tsx
index 5197b33..1e46c6a 100644
--- a/src/components/map/MowerMap.tsx
+++ b/src/components/map/MowerMap.tsx
@@ -33,6 +33,7 @@ import LayersButton from './LayersButton';
 import MapDialog from './MapDialog';
 import {mapStyles} from './mapStyles';
 import MowerMarker from './MowerMarker';
+import SimulatorButton from './SimulatorButton';
 import TeleopControls from './teleop/TeleopControls';
 import TrackLayer from './TrackLayer';
 
@@ -61,7 +62,9 @@ export function MowerMap({mapData, saveMapToMower, sx}: MowerMapProps) {
   const currentState = useSelectedMower((s) => s?.state.current_state);
   const isDocked = useSelectedMower((s) => s?.state.is_charging ?? false);
   const mowerPosition = useSelectedMower((s) => s?.position ?? s?.state.pose);
-  const showTeleop = currentState === 'AREA_RECORDING' && !editMode;
+  const simAvailable = useSelectedMower((s) => s?.simState != null);
+  const manualDrive = useSelectedMower((s) => s?.simState?.joy_override ?? false);
+  const showTeleop = (currentState === 'AREA_RECORDING' || manualDrive) && !editMode;
   const areas = useMemo(
     () => features.features.filter((feature) => feature.geometry.type === 'Polygon') as Feature<Polygon, AreaProps>[],
     [features],
@@ -246,6 +249,7 @@ export function MowerMap({mapData, saveMapToMower, sx}: MowerMapProps) {
           onClick={() => fitToBounds(false, padding)}
         />
         <LayersButton datum={datum} trackLoading={trackLoading} editMode={editMode} />
+        {simAvailable && <SimulatorButton />}
         <ControlButton
           position="top-right"
           icon={LayoutListIcon}
@@ -295,7 +299,7 @@ export function MowerMap({mapData, saveMapToMower, sx}: MowerMapProps) {
         ))}
         {mowerPosition && !isDocked && <MowerMarker position={mowerPosition} datum={datumOrFallback} />}
         <TrackLayer visible={showTrackLayer && !editMode} pastTrack={pastTrack} loading={trackLoading} />
-        {showTeleop && <TeleopControls />}
+        {showTeleop && <TeleopControls simulatorMode={manualDrive} />}
         <DialogOutlet />
       </RMap>
     </Box>
diff --git a/src/components/map/SimulatorButton.tsx b/src/components/map/SimulatorButton.tsx
new file mode 100644
index 0000000..2f97c11
--- /dev/null
+++ b/src/components/map/SimulatorButton.tsx
@@ -0,0 +1,422 @@
+'use client';
+
+import {useSimControl} from '@/hooks/useSimControl';
+import {useSelectedMower} from '@/stores/mowersStore';
+import {
+  KeyboardArrowDown as DownIcon,
+  KeyboardArrowLeft as LeftIcon,
+  KeyboardArrowRight as RightIcon,
+  ScienceOutlined as SimulatorIcon,
+  KeyboardArrowUp as UpIcon,
+} from '@mui/icons-material';
+import {
+  Box,
+  Button,
+  Divider,
+  FormControlLabel,
+  IconButton,
+  Popover,
+  Switch,
+  ToggleButton,
+  ToggleButtonGroup,
+  Typography,
+  useTheme,
+} from '@mui/material';
+import {useRControl} from 'maplibre-react-components';
+import {useCallback, useRef, useState} from 'react';
+import {createPortal} from 'react-dom';
+
+
+const STEPS = [0.25, 0.5, 1, 2];
+
+interface BatterySliderProps {
+  value: number;
+  onChange: (v: number) => void;
+  min: number;
+  max: number;
+  emptyVoltage?: number;
+  fullVoltage?: number;
+  critLowVoltage: number;
+  critHighVoltage: number;
+}
+
+const TRACK_H = 20;
+const PAD_X = 0;
+const SVG_H = TRACK_H;
+
+function BatterySlider({
+  value,
+  onChange,
+  min,
+  max,
+  emptyVoltage,
+  fullVoltage,
+  critLowVoltage,
+  critHighVoltage,
+}: BatterySliderProps) {
+  const theme = useTheme();
+  const svgRef = useRef<SVGSVGElement>(null);
+  const [width, setWidth] = useState(300);
+  const [dragging, setDragging] = useState(false);
+
+  const measuredRef = useCallback((el: HTMLDivElement | null) => {
+    if (!el) return;
+    const update = () => setWidth(el.clientWidth);
+    update();
+    const ro = new ResizeObserver(update);
+    ro.observe(el);
+  }, []);
+
+  const trackW = Math.max(1, width - PAD_X * 2);
+  const toX = useCallback((v: number) => PAD_X + ((v - min) / (max - min)) * trackW, [min, max, trackW]);
+  const toV = useCallback(
+    (x: number) => {
+      const clamped = Math.max(0, Math.min(trackW, x - PAD_X));
+      return Math.round((min + (clamped / trackW) * (max - min)) * 10) / 10;
+    },
+    [min, max, trackW],
+  );
+
+  const thumbX = Math.max(PAD_X, Math.min(PAD_X + trackW, toX(value)));
+  const xCritLow = toX(critLowVoltage);
+  const xEmpty = emptyVoltage !== undefined ? toX(emptyVoltage) : xCritLow;
+  const xFull = fullVoltage !== undefined ? toX(fullVoltage) : toX(max);
+  const xCritHigh = toX(critHighVoltage);
+
+  const dark = theme.palette.mode === 'dark';
+  const colRed = dark ? '#ef4444' : '#f87171';
+  const colYellow = dark ? '#eab308' : '#facc15';
+  const colGreen = dark ? '#22c55e' : '#4ade80';
+
+  const handlePointer = useCallback(
+    (e: React.PointerEvent<SVGSVGElement>) => {
+      if (!svgRef.current) return;
+      const rect = svgRef.current.getBoundingClientRect();
+      // scale from CSS pixels to viewBox units
+      const scale = width / rect.width;
+      const x = (e.clientX - rect.left) * scale;
+      onChange(toV(x));
+    },
+    [onChange, toV, width],
+  );
+
+  const onPointerDown = (e: React.PointerEvent<SVGSVGElement>) => {
+    (e.currentTarget as SVGSVGElement).setPointerCapture(e.pointerId);
+    setDragging(true);
+    handlePointer(e);
+  };
+  const onPointerMove = (e: React.PointerEvent<SVGSVGElement>) => {
+    if (dragging) handlePointer(e);
+  };
+  const onPointerUp = (e: React.PointerEvent<SVGSVGElement>) => {
+    setDragging(false);
+    (e.currentTarget as SVGSVGElement).releasePointerCapture(e.pointerId);
+  };
+
+  const rx = 3;
+
+  return (
+    <Box ref={measuredRef} sx={{px: 1.5, pb: 1}}>
+      <svg
+        ref={svgRef}
+        width="100%"
+        height={SVG_H}
+        viewBox={`0 0 ${width} ${SVG_H}`}
+        style={{display: 'block', cursor: 'text', userSelect: 'none', overflow: 'visible'}}
+        onPointerDown={onPointerDown}
+        onPointerMove={onPointerMove}
+        onPointerUp={onPointerUp}
+      >
+        <defs>
+          <clipPath id="batt-clip">
+            <rect x={PAD_X} y={0} width={trackW} height={TRACK_H} rx={rx} />
+          </clipPath>
+        </defs>
+
+        {/* Zone 1: red   (min → critLow) */}
+        <rect
+          x={PAD_X}
+          y={0}
+          width={Math.max(0, xCritLow - PAD_X)}
+          height={TRACK_H}
+          fill={colRed}
+          clipPath="url(#batt-clip)"
+        />
+        {/* Zone 2: yellow (critLow → empty) */}
+        <rect
+          x={xCritLow}
+          y={0}
+          width={Math.max(0, xEmpty - xCritLow)}
+          height={TRACK_H}
+          fill={colYellow}
+          clipPath="url(#batt-clip)"
+        />
+        {/* Zone 3: green  (empty → full) */}
+        <rect
+          x={xEmpty}
+          y={0}
+          width={Math.max(0, xFull - xEmpty)}
+          height={TRACK_H}
+          fill={colGreen}
+          clipPath="url(#batt-clip)"
+        />
+        {/* Zone 4: yellow (full → critHigh) */}
+        <rect
+          x={xFull}
+          y={0}
+          width={Math.max(0, xCritHigh - xFull)}
+          height={TRACK_H}
+          fill={colYellow}
+          clipPath="url(#batt-clip)"
+        />
+        {/* Zone 5: red   (critHigh → max) */}
+        <rect
+          x={xCritHigh}
+          y={0}
+          width={Math.max(0, PAD_X + trackW - xCritHigh)}
+          height={TRACK_H}
+          fill={colRed}
+          clipPath="url(#batt-clip)"
+        />
+
+        {/* Track border */}
+        <rect
+          x={PAD_X}
+          y={0}
+          width={trackW}
+          height={TRACK_H}
+          rx={rx}
+          fill="none"
+          stroke={theme.palette.divider}
+          strokeWidth={1}
+        />
+
+        {/* Thumb: vertical line */}
+        <line x1={thumbX} y1={0} x2={thumbX} y2={TRACK_H} stroke="black" strokeWidth={2} strokeLinecap="round" />
+      </svg>
+    </Box>
+  );
+}
+
+const rowSx = {mx: 0, px: 1, py: 0.25, width: '100%', justifyContent: 'space-between'} as const;
+
+export default function SimulatorButton() {
+  const {container} = useRControl({position: 'bottom-right'});
+  const buttonRef = useRef<HTMLButtonElement>(null);
+  const [open, setOpen] = useState(false);
+  const [displaceStep, setDisplaceStep] = useState(0.5);
+
+  const theme = useTheme();
+
+  const {simState, available, setEmergency, setMovementAllowed, setBatteryVoltage, setGpsGood, setJoyOverride, moveToDock, displace} =
+    useSimControl();
+
+  const params = useSelectedMower((m) => m?.params ?? {});
+  const fullVoltage = params['/ll/services/power/battery_full_voltage'];
+  const emptyVoltage = params['/ll/services/power/battery_empty_voltage'];
+  const critLowVoltage = params['/ll/services/power/battery_critical_voltage'];
+  const critHighVoltage = params['/ll/services/power/battery_critical_high_voltage'];
+  const batteryPct = useSelectedMower((m) => m?.state.battery_percentage ?? null);
+
+  const hasActivity =
+    simState?.joy_override || simState?.emergency_latch || simState?.gps_good === false || simState?.movement_allowed === false;
+
+  const content = (
+    <>
+      <button
+        ref={buttonRef}
+        type="button"
+        title="Simulator"
+        onClick={() => setOpen((o) => !o)}
+        style={{padding: 0, position: 'relative'}}
+      >
+        <SimulatorIcon />
+        {hasActivity && (
+          <span
+            style={{
+              position: 'absolute',
+              top: 2,
+              right: 2,
+              width: 12,
+              height: 12,
+              borderRadius: '50%',
+              background: simState?.emergency_latch ? theme.palette.error.main : '#0ea5e9',
+            }}
+          />
+        )}
+      </button>
+
+      <Popover
+        open={open}
+        anchorEl={buttonRef.current}
+        onClose={() => setOpen(false)}
+        anchorOrigin={{vertical: 'bottom', horizontal: 'left'}}
+        transformOrigin={{vertical: 'bottom', horizontal: 'right'}}
+        slotProps={{paper: {sx: {width: 460, py: 1}}}}
+      >
+        <Typography variant="overline" sx={{px: 1.5, display: 'block', lineHeight: 2.5}}>
+          Simulator
+        </Typography>
+
+        {available && simState ? (
+          <>
+          <Box sx={{display: 'flex', gap: 0, alignItems: 'flex-start'}}>
+            {/* Left column */}
+            <Box sx={{flex: 1, minWidth: 0}}>
+              {/* Boolean toggles via Switch */}
+              <FormControlLabel
+                sx={rowSx}
+                labelPlacement="start"
+                control={<Switch checked={simState.joy_override} onChange={(e) => setJoyOverride(e.target.checked)} />}
+                label="Manual drive"
+              />
+
+              <FormControlLabel
+                sx={rowSx}
+                labelPlacement="start"
+                label="GPS fix"
+                control={<Switch checked={simState.gps_good} onChange={(e) => setGpsGood(e.target.checked)} />}
+              />
+              <FormControlLabel
+                sx={rowSx}
+                labelPlacement="start"
+                label="Traction"
+                control={
+                  <Switch checked={simState.movement_allowed} onChange={(e) => setMovementAllowed(e.target.checked)} />
+                }
+              />
+
+              <Divider sx={{my: 1}} />
+
+              {/* Battery slider */}
+              <Typography variant="caption" color="text.secondary" sx={{px: 1.5, display: 'block', mb: 0.5}}>
+                Battery{batteryPct !== null ? ` — ${batteryPct}%` : ''}{' '}
+                <Typography component="span" variant="caption" color="text.disabled">
+                  {simState.battery_voltage.toFixed(1)} V
+                </Typography>
+              </Typography>
+              {critLowVoltage !== undefined && critHighVoltage !== undefined ? (
+                <BatterySlider
+                  value={simState.battery_voltage}
+                  onChange={setBatteryVoltage}
+                  min={Math.min(critLowVoltage, critHighVoltage) - 0.5}
+                  max={Math.max(critLowVoltage, critHighVoltage) + 0.5}
+                  emptyVoltage={emptyVoltage}
+                  fullVoltage={fullVoltage}
+                  critLowVoltage={critLowVoltage}
+                  critHighVoltage={critHighVoltage}
+                />
+              ) : (
+                <Typography variant="caption" color="text.disabled" sx={{px: 1.5, display: 'block', pb: 0.5}}>
+                  Voltage params not available
+                </Typography>
+              )}
+            </Box>
+
+            <Divider orientation="vertical" flexItem sx={{mx: 0.5}} />
+
+            {/* Right column — GPS jump */}
+            <Box sx={{px: 1, pt: 0.5, pb: 1}}>
+              <Typography variant="caption" color="text.secondary" sx={{display: 'block', mb: 0.75}}>
+                GPS jump
+              </Typography>
+              <Box sx={{display: 'flex', alignItems: 'center', gap: 1.5}}>
+                <Box
+                  sx={{
+                    display: 'grid',
+                    gridTemplateColumns: 'repeat(3, 32px)',
+                    gridTemplateRows: 'repeat(3, 32px)',
+                    gap: 0.25,
+                    justifyItems: 'center',
+                    alignItems: 'center',
+                  }}
+                >
+                  <Box sx={{gridColumn: 2, gridRow: 1}}>
+                    <IconButton
+                      size="small"
+                      onClick={() => displace(0, displaceStep)}
+                      sx={{border: `1px solid ${theme.palette.divider}`, borderRadius: 1}}
+                    >
+                      <UpIcon fontSize="small" />
+                    </IconButton>
+                  </Box>
+                  <Box sx={{gridColumn: 1, gridRow: 2}}>
+                    <IconButton
+                      size="small"
+                      onClick={() => displace(-displaceStep, 0)}
+                      sx={{border: `1px solid ${theme.palette.divider}`, borderRadius: 1}}
+                    >
+                      <LeftIcon fontSize="small" />
+                    </IconButton>
+                  </Box>
+                  <Box sx={{gridColumn: 3, gridRow: 2}}>
+                    <IconButton
+                      size="small"
+                      onClick={() => displace(displaceStep, 0)}
+                      sx={{border: `1px solid ${theme.palette.divider}`, borderRadius: 1}}
+                    >
+                      <RightIcon fontSize="small" />
+                    </IconButton>
+                  </Box>
+                  <Box sx={{gridColumn: 2, gridRow: 3}}>
+                    <IconButton
+                      size="small"
+                      onClick={() => displace(0, -displaceStep)}
+                      sx={{border: `1px solid ${theme.palette.divider}`, borderRadius: 1}}
+                    >
+                      <DownIcon fontSize="small" />
+                    </IconButton>
+                  </Box>
+                </Box>
+                <ToggleButtonGroup
+                  exclusive
+                  size="small"
+                  value={displaceStep}
+                  onChange={(_, v) => v != null && setDisplaceStep(v)}
+                  orientation="vertical"
+                >
+                  {STEPS.map((s) => (
+                    <ToggleButton key={s} value={s} sx={{px: 1.5, py: 0.25}}>
+                      {s} m
+                    </ToggleButton>
+                  ))}
+                </ToggleButtonGroup>
+              </Box>
+            </Box>
+          </Box>
+          <Divider sx={{mt: 1}} />
+          <Box sx={{display: 'flex', gap: 1, px: 1.5, py: 0.75, justifyContent: 'flex-end'}}>
+            <Button
+              size="small"
+              variant={simState.emergency_latch ? 'contained' : 'outlined'}
+              color={simState.emergency_latch ? 'error' : 'inherit'}
+              onClick={() => setEmergency(!simState.emergency_latch)}
+              sx={{textTransform: 'none', fontSize: '0.8rem'}}
+            >
+              {simState.emergency_latch ? 'Clear emergency' : 'Trigger emergency'}
+            </Button>
+            <Button
+              size="small"
+              variant="outlined"
+              color="inherit"
+              onClick={moveToDock}
+              sx={{textTransform: 'none', fontSize: '0.8rem'}}
+            >
+              {simState.charging ? 'Charging…' : 'Move to dock'}
+            </Button>
+          </Box>
+          </>
+        ) : (
+          <>
+            <Divider sx={{my: 1}} />
+            <Typography variant="caption" color="text.secondary" sx={{px: 1.5, display: 'block', pb: 0.5}}>
+              Simulator not detected — waiting for <code>sim/state/json</code>…
+            </Typography>
+          </>
+        )}
+      </Popover>
+    </>
+  );
+
+  return createPortal(content, container);
+}
diff --git a/src/components/map/teleop/TeleopControls.tsx b/src/components/map/teleop/TeleopControls.tsx
index c71c1ae..56008d9 100644
--- a/src/components/map/teleop/TeleopControls.tsx
+++ b/src/components/map/teleop/TeleopControls.tsx
@@ -4,7 +4,11 @@ import {useTeleop} from '@/hooks/useTeleop';
 import {Box, useMediaQuery, useTheme} from '@mui/material';
 import VirtualJoystick from './VirtualJoystick';
 
-export default function TeleopControls() {
+interface TeleopControlsProps {
+  simulatorMode?: boolean;
+}
+
+export default function TeleopControls({simulatorMode = false}: TeleopControlsProps) {
   const {setVelocity} = useTeleop();
   const theme = useTheme();
   const isMobile = useMediaQuery(theme.breakpoints.down('md'));
@@ -19,7 +23,7 @@ export default function TeleopControls() {
         zIndex: 10,
       }}
     >
-      <VirtualJoystick onVelocityChange={setVelocity} />
+      <VirtualJoystick onVelocityChange={setVelocity} simulatorMode={simulatorMode} />
     </Box>
   );
 }
diff --git a/src/components/map/teleop/VirtualJoystick.tsx b/src/components/map/teleop/VirtualJoystick.tsx
index 0a0e156..d4613b4 100644
--- a/src/components/map/teleop/VirtualJoystick.tsx
+++ b/src/components/map/teleop/VirtualJoystick.tsx
@@ -15,9 +15,10 @@ type DpadDirection = 'up' | 'down' | 'left' | 'right' | null;
 
 interface VirtualJoystickProps {
   onVelocityChange: (vx: number, vz: number) => void;
+  simulatorMode?: boolean;
 }
 
-export default function VirtualJoystick({onVelocityChange}: VirtualJoystickProps) {
+export default function VirtualJoystick({onVelocityChange, simulatorMode = false}: VirtualJoystickProps) {
   const containerRef = useRef<HTMLDivElement>(null);
   const [knobPos, setKnobPos] = useState({x: 0, y: 0});
   const [dragging, setDragging] = useState(false);
@@ -153,8 +154,10 @@ export default function VirtualJoystick({onVelocityChange}: VirtualJoystickProps
         position: 'relative',
         touchAction: 'none',
         userSelect: 'none',
-        background: 'radial-gradient(circle, rgba(0,0,0,0.25) 0%, rgba(0,0,0,0.4) 100%)',
-        border: '2px solid rgba(255,255,255,0.3)',
+        background: simulatorMode
+          ? 'radial-gradient(circle, rgba(180,0,0,0.35) 0%, rgba(120,0,0,0.5) 100%)'
+          : 'radial-gradient(circle, rgba(0,0,0,0.25) 0%, rgba(0,0,0,0.4) 100%)',
+        border: simulatorMode ? '2px solid rgba(255,80,80,0.5)' : '2px solid rgba(255,255,255,0.3)',
         backdropFilter: 'blur(4px)',
       }}
     >
diff --git a/src/hooks/useSimControl.ts b/src/hooks/useSimControl.ts
new file mode 100644
index 0000000..67965e0
--- /dev/null
+++ b/src/hooks/useSimControl.ts
@@ -0,0 +1,63 @@
+'use client';
+
+import type {OpenMowerRpc} from '@/lib/rpc';
+import {useSelectedMower} from '@/stores/mowersStore';
+import type {SimState} from '@/stores/schemas';
+import {useCallback, useState} from 'react';
+
+export type SimAction = 'emergency' | 'movement' | 'battery' | 'gps' | 'dock' | 'displace' | 'joy_override';
+
+export interface SimControl {
+  /** null while no simulator has been detected (no retained sim/state/json message). */
+  simState: SimState | null;
+  available: boolean;
+  /** The action currently being sent, or null when idle. */
+  pending: SimAction | null;
+  error: string | null;
+  setEmergency: (active: boolean) => void;
+  setMovementAllowed: (allowed: boolean) => void;
+  setBatteryVoltage: (voltage: number) => void;
+  setGpsGood: (good: boolean) => void;
+  setJoyOverride: (enabled: boolean) => void;
+  moveToDock: () => void;
+  displace: (dx: number, dy: number, dheading?: number) => void;
+}
+
+export function useSimControl(): SimControl {
+  const mowerId = useSelectedMower((m) => m?.id);
+  const rpc = useSelectedMower((m) => m?.rpc);
+  const simState = useSelectedMower((m) => m?.simState) ?? null;
+
+  const [pending, setPending] = useState<SimAction | null>(null);
+  const [error, setError] = useState<string | null>(null);
+
+  const run = useCallback(
+    async (action: SimAction, fn: (rpc: OpenMowerRpc) => Promise<unknown>) => {
+      if (!rpc || !mowerId) return;
+      setPending(action);
+      setError(null);
+      try {
+        await fn(rpc);
+      } catch (e) {
+        setError(e instanceof Error ? e.message : 'RPC failed');
+      } finally {
+        setPending(null);
+      }
+    },
+    [rpc, mowerId],
+  );
+
+  return {
+    simState,
+    available: simState !== null,
+    pending,
+    error,
+    setEmergency: (active) => run('emergency', (r) => r.sim.emergency.set({active})),
+    setMovementAllowed: (allowed) => run('movement', (r) => r.sim.movement.set({allowed})),
+    setBatteryVoltage: (voltage) => run('battery', (r) => r.sim.battery.set({voltage})),
+    setGpsGood: (good) => run('gps', (r) => r.sim.gps.set({good})),
+    setJoyOverride: (enabled) => run('joy_override', (r) => r.sim.joy_override.set({enabled})),
+    moveToDock: () => run('dock', (r) => r.sim.dock.move()),
+    displace: (dx, dy, dheading = 0) => run('displace', (r) => r.sim.displace({dx, dy, dheading})),
+  };
+}
diff --git a/src/lib/rpc.ts b/src/lib/rpc.ts
index 323cab1..a333883 100644
--- a/src/lib/rpc.ts
+++ b/src/lib/rpc.ts
@@ -65,7 +65,7 @@ export interface ObjectHicl3T4F { [key: string]: any; }
  * Generated! Represents an alias to any of the provided schemas
  *
  */
-export type AnyOfObjectHAgrRKSzStringDoaGddGAStringDoaGddGAStringZDJW5SIjUnorderedSetOfStringDoaGddGADvj0XlFaNullQu0Arl1FStringZDJW5SIjStringDoaGddGAObjectOfUnorderedSetOfObjectOfUnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GObjectOfStringDoaGddGAStringDoaGddGABooleanVyG3AETh8PZSKeKMFruGLaE4Gkga5QR4UnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GA4JKc1WsUnorderedSetOfObjectOfNumberHo1ClIqDStringDoaGddGAJFf7IL19E3WiTXvKUnorderedSetOfObjectOfNumberHo1ClIqDNumberHo1ClIqDStringDoaGddGANumberHo1ClIqDStringDoaGddGAStringDoaGddGAStringDoaGddGABooleanVyG3AEThEg3PskfBvWnyETupUnorderedSetOfStringDoaGddGADvj0XlFaObjectHicl3T4F = ObjectHAgrRKSz | StringDoaGddGA | StringZDJW5SIj | UnorderedSetOfStringDoaGddGADvj0XlFa | NullQu0Arl1F | ObjectOfUnorderedSetOfObjectOfUnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GObjectOfStringDoaGddGAStringDoaGddGABooleanVyG3AETh8PZSKeKMFruGLaE4Gkga5QR4UnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GA4JKc1Ws | UnorderedSetOfObjectOfNumberHo1ClIqDStringDoaGddGAJFf7IL19E3WiTXvK | UnorderedSetOfObjectOfNumberHo1ClIqDNumberHo1ClIqDStringDoaGddGANumberHo1ClIqDStringDoaGddGAStringDoaGddGAStringDoaGddGABooleanVyG3AEThEg3PskfBvWnyETup | ObjectHicl3T4F;
+export type AnyOfObjectHAgrRKSzStringDoaGddGAStringDoaGddGABooleanVyG3AEThBooleanVyG3AEThNumberHo1ClIqDBooleanVyG3AEThBooleanVyG3AEThNumberHo1ClIqDNumberHo1ClIqDNumberHo1ClIqDStringZDJW5SIjUnorderedSetOfStringDoaGddGADvj0XlFaNullQu0Arl1FStringZDJW5SIjStringDoaGddGAObjectOfUnorderedSetOfObjectOfUnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GObjectOfStringDoaGddGAStringDoaGddGABooleanVyG3AETh8PZSKeKMFruGLaE4Gkga5QR4UnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GA4JKc1WsUnorderedSetOfObjectOfNumberHo1ClIqDStringDoaGddGAJFf7IL19E3WiTXvKUnorderedSetOfObjectOfNumberHo1ClIqDNumberHo1ClIqDStringDoaGddGANumberHo1ClIqDStringDoaGddGAStringDoaGddGAStringDoaGddGABooleanVyG3AEThEg3PskfBvWnyETupUnorderedSetOfStringDoaGddGADvj0XlFaObjectHicl3T4FNullQu0Arl1FNullQu0Arl1FNullQu0Arl1FNullQu0Arl1FNullQu0Arl1FNullQu0Arl1FNullQu0Arl1F = ObjectHAgrRKSz | StringDoaGddGA | BooleanVyG3AETh | NumberHo1ClIqD | StringZDJW5SIj | UnorderedSetOfStringDoaGddGADvj0XlFa | NullQu0Arl1F | ObjectOfUnorderedSetOfObjectOfUnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GObjectOfStringDoaGddGAStringDoaGddGABooleanVyG3AETh8PZSKeKMFruGLaE4Gkga5QR4UnorderedSetOfUnorderedSetOfNumberHo1ClIqDAokMKuEfbuExLS5GA4JKc1Ws | UnorderedSetOfObjectOfNumberHo1ClIqDStringDoaGddGAJFf7IL19E3WiTXvK | UnorderedSetOfObjectOfNumberHo1ClIqDNumberHo1ClIqDStringDoaGddGANumberHo1ClIqDStringDoaGddGAStringDoaGddGAStringDoaGddGABooleanVyG3AEThEg3PskfBvWnyETup | ObjectHicl3T4F;
 
 export class OpenMowerRpc extends OpenMowerBaseRpc {
   rpc = {
@@ -124,4 +124,46 @@ export class OpenMowerRpc extends OpenMowerBaseRpc {
       list: async (): Promise<UnorderedSetOfStringDoaGddGADvj0XlFa> => this.call('events.history.list'),
     }),
   };
+  sim = {
+    emergency: {
+      /**
+      * Trigger or clear a latched emergency in the simulator.
+      */
+      set: async (args: {active: BooleanVyG3AETh}): Promise<void> => this.call('sim.emergency.set', args),
+    },
+    movement: {
+      /**
+      * Allow or block physical movement to simulate a stuck robot.
+      */
+      set: async (args: {allowed: BooleanVyG3AETh}): Promise<void> => this.call('sim.movement.set', args),
+    },
+    battery: {
+      /**
+      * Set the simulated battery pack voltage.
+      */
+      set: async (args: {voltage: NumberHo1ClIqD}): Promise<void> => this.call('sim.battery.set', args),
+    },
+    gps: {
+      /**
+      * Set the simulated GPS quality.
+      */
+      set: async (args: {good: BooleanVyG3AETh}): Promise<void> => this.call('sim.gps.set', args),
+    },
+    joy_override: {
+      /**
+      * Enable or disable joystick (manual drive) override in the simulator.
+      */
+      set: async (args: {enabled: BooleanVyG3AETh}): Promise<void> => this.call('sim.joy_override.set', args),
+    },
+    dock: {
+      /**
+      * Drive the simulated robot onto the dock and start charging.
+      */
+      move: async (): Promise<void> => this.call('sim.dock.move'),
+    },
+    /**
+    * Teleport the robot by (dx, dy) meters and dheading radians to simulate a GPS jump.
+    */
+    displace: async (args: {dx?: NumberHo1ClIqD, dy?: NumberHo1ClIqD, dheading?: NumberHo1ClIqD}): Promise<void> => this.call('sim.displace', args),
+  };
 }
diff --git a/src/stores/mowersStore.ts b/src/stores/mowersStore.ts
index f081c72..ebc08a0 100644
--- a/src/stores/mowersStore.ts
+++ b/src/stores/mowersStore.ts
@@ -28,12 +28,16 @@ import {
   mapDefaults,
   mapSchema,
   positionSchema,
+  rosParamsSchema,
+  simStateSchema,
   stateDefaults,
   stateSchema,
   type Capabilities,
   type Datum,
   type MapData,
   type PositionWithAttributes,
+  type RosParams,
+  type SimState,
   type StateOptionalPose,
   type TrackAttributes,
 } from './schemas';
@@ -53,11 +57,14 @@ class Mower {
   capabilities: Capabilities = {};
   state: StateOptionalPose = stateDefaults;
   map: MapData = mapDefaults;
-  params: Record<string, unknown> = {};
+  params: RosParams = {};
   position: PositionWithAttributes | null = null;
   track: TrackPipeline = new TrackPipeline();
   jobList: {job_id: string; epoch: number}[] | null = null;
   events: MowerEventState = mowerEventDefaults;
+  // null until a retained sim/state/json message arrives — also used as the
+  // "is this a simulator?" feature-detection flag.
+  simState: SimState | null = null;
 
   constructor(config: MowerConfig, mqttClient: MqttClient) {
     this.id = config.id;
@@ -161,6 +168,7 @@ export const useMowersStore = create<MowersStore>()(
             client.subscribe(clientMower.prefix + 'position/json');
             client.subscribe(clientMower.prefix + 'params/json');
             client.subscribe(clientMower.prefix + 'events/json');
+            client.subscribe(clientMower.prefix + 'sim/state/json');
             mowers[clientMower.idx].rpc.events.history
               .list()
               .then((dates) => {
@@ -239,7 +247,7 @@ export const useMowersStore = create<MowersStore>()(
             } else if (partialTopic === 'params/json') {
               set((state) => {
                 const mower = state.mowers[idx];
-                mower.params = JSON.parse(payload.toString()) as Record<string, unknown>;
+                mower.params = rosParamsSchema.parse(JSON.parse(payload.toString()));
                 mower.map.datum ??= mower.getDatumFromParams();
               });
             } else if (partialTopic === 'position/json') {
@@ -251,12 +259,6 @@ export const useMowersStore = create<MowersStore>()(
                   mower.track.addPoint(parsed);
                 }
               });
-            } else if (partialTopic === 'params/json') {
-              set((state) => {
-                const mower = state.mowers[idx];
-                mower.params = JSON.parse(payload.toString()) as Record<string, unknown>;
-                mower.map.datum ??= mower.getDatumFromParams();
-              });
             } else if (partialTopic === 'events/json') {
               set((state) => {
                 const parsed = eventSchema.safeParse(JSON.parse(payload.toString()));
@@ -264,6 +266,13 @@ export const useMowersStore = create<MowersStore>()(
                   applyLiveEvent(state.mowers[idx].events, parsed.data);
                 }
               });
+            } else if (partialTopic === 'sim/state/json') {
+              set((state) => {
+                const parsed = simStateSchema.safeParse(JSON.parse(payload.toString()));
+                if (parsed.success) {
+                  state.mowers[idx].simState = parsed.data;
+                }
+              });
             }
           }
         });
diff --git a/src/stores/schemas.ts b/src/stores/schemas.ts
index aa43abf..812e51c 100644
--- a/src/stores/schemas.ts
+++ b/src/stores/schemas.ts
@@ -48,6 +48,23 @@ export const stateSchema = z.object({
 export type State = z.infer<typeof stateSchema>;
 export type StateOptionalPose = Omit<State, 'pose'> & {pose?: State['pose']};
 
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// Simulation control (from sim/state/json topic and sim.* RPCs)
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+export const simStateSchema = z.object({
+  emergency_active: z.boolean(),
+  emergency_latch: z.boolean(),
+  emergency_reason: z.number().int(),
+  movement_allowed: z.boolean(),
+  gps_good: z.boolean(),
+  battery_voltage: z.number(),
+  charging: z.boolean(),
+  joy_override: z.boolean(),
+});
+
+export type SimState = z.infer<typeof simStateSchema>;
+
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 // Map
 ////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -201,3 +218,22 @@ export const stateDefaults: StateOptionalPose = {
   is_charging: false,
   pose: undefined,
 };
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// ROS params
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+export const rosParamsSchema = z
+  .object({
+    '/ll/services/power/battery_full_voltage': z.number(),
+    '/ll/services/power/battery_empty_voltage': z.number(),
+    '/ll/services/power/battery_critical_voltage': z.number(),
+    '/ll/services/power/battery_critical_high_voltage': z.number(),
+    '/ll/services/gps/datum_lat': z.number(),
+    '/ll/services/gps/datum_long': z.number(),
+    '/ll/services/gps/datum_height': z.number(),
+  })
+  .partial()
+  .catchall(z.unknown());
+
+export type RosParams = z.infer<typeof rosParamsSchema>;