Merge pull request #3403 from rkothari3:docs-simulate-shortcuts
PiperOrigin-RevId: 948571230 Change-Id: Ibbd151e9f2143c3e41cda1b6ee4873f088595084
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@@ -122,7 +122,250 @@ Interaction is done with the mouse; built-in help with a summary of available co
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``F1`` key. Briefly, an object is selected by left-double-click. The user can then apply forces and torques on the
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``F1`` key. Briefly, an object is selected by left-double-click. The user can then apply forces and torques on the
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selected object by holding Ctrl and dragging the mouse. Dragging the mouse alone (without Ctrl) moves the camera. There
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selected object by holding Ctrl and dragging the mouse. Dragging the mouse alone (without Ctrl) moves the camera. There
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are keyboard shortcuts for pausing the simulation, resetting, and re-loading the model file. The latter functionality is
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are keyboard shortcuts for pausing the simulation, resetting, and re-loading the model file. The latter functionality is
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very useful while editing the model in an XML editor.
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very useful while editing the model in an XML editor. The complete set of shortcuts is given in
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:ref:`saSimulateShortcuts` below.
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.. _saSimulateShortcuts:
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Shortcuts
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^^^^^^^^^
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The ``F1`` help overlay lists the most common commands. The tables below are the complete reference, and also apply to
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the Python viewer launched with :ref:`mujoco.viewer<PyViewer>`, which is built on the same ``Simulate`` UI. Shortcuts
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that step or pause the simulation have no effect in passive mode, where stepping is driven by user code.
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In addition to the shortcuts listed here, every UI control shows its own shortcut when the right mouse button is held
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over the UI panel.
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Simulation and camera
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"""""""""""""""""""""
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.. list-table::
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:width: 95%
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:align: left
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:widths: 1 3
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:header-rows: 1
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* - Key
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- Action
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* - ``Space``
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- Play / pause
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* - ``Right arrow``
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- Step forward
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* - ``Left arrow``
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- Step backward, through the history buffer
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* - ``+`` (actually ``=``)
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- Speed up
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* - ``-``
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- Slow down
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* - ``Backspace``
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- Reset
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* - ``Ctrl C``
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- Copy state to clipboard
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* - ``Ctrl L``
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- Reload the model
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* - ``Ctrl A``
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- Align the free camera
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* - ``Esc``
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- Switch to the free camera
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* - ``[`` / ``]``
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- Cycle down / up through the fixed cameras defined in the model
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* - ``Page Up``
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- Select the parent of the currently selected body
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* - ``Tab`` / ``Shift Tab``
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- Toggle the left / right UI panel
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Panels and files
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""""""""""""""""
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.. list-table::
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:width: 95%
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:align: left
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:widths: 1 3
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:header-rows: 1
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* - Key
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- Action
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* - ``F1``
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- Toggle the help overlay
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* - ``F2``
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- Toggle the info overlay
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* - ``F3``
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- Toggle the profiler
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* - ``F4``
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- Toggle the sensor plots
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* - ``F5``
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- Toggle fullscreen
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* - ``F6``
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- Cycle the frame visualization
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* - ``F7``
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- Cycle the label visualization
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* - ``Ctrl M``
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- Print the model to ``MJMODEL.TXT``
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* - ``Ctrl D``
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- Print the data to ``MJDATA.TXT``
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* - ``Ctrl P``
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- Save a screenshot
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* - ``Ctrl Q``
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- Quit
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* - ``Alt`` + letter
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- Expand / collapse a UI section: ``F`` File, ``O`` Option, ``S`` Simulation, ``W`` Watch, ``P`` Physics,
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``R`` Rendering, ``V`` Visualization, ``G`` Group enable, ``L`` Logging, ``J`` Joint, ``C`` Control,
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``E`` Equality
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Visibility groups
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"""""""""""""""""
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.. list-table::
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:width: 95%
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:align: left
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:widths: 1 3
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:header-rows: 1
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* - Key
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- Action
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* - ``0`` … ``5``
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- Toggle visibility of geom group 0 … 5
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* - ``Shift 0`` … ``Shift 5``
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- Toggle visibility of site group 0 … 5
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Visualization flags
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"""""""""""""""""""
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These toggle the abstract visualization flags in the Rendering section, and correspond to the shortcuts declared in
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``mjVISSTRING``. Flags with no shortcut assigned (Select Point, the Flex flags and SDF iters) are omitted.
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.. list-table::
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:width: 95%
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:align: left
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:widths: 1 3 1 3
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:header-rows: 1
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* - Key
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- Flag
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- Key
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- Flag
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* - ``H``
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- Convex Hull
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- ``X``
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- Texture
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* - ``J``
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- Joint
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- ``Q``
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- Camera
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* - ``U``
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- Actuator
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- ``,``
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- Activation
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* - ``Z``
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- Light
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- ``V``
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- Tendon
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* - ``Y``
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- Range Finder
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- ``E``
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- Equality
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* - ``I``
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- Inertia
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- ``'``
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- Scale Inertia
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* - ``B``
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- Perturb Force
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- ``O``
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- Perturb Object
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* - ``C``
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- Contact Point
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- ``N``
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- Island
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* - ``F``
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- Contact Force
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- ``P``
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- Contact Split
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* - ``T``
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- Transparent
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- ``A``
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- Auto Connect
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* - ``M``
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- Center of Mass
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- ``D``
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- Static Body
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* - ``;``
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- Skin
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- :literal:`\``
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- Body Tree
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* - ``\``
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- Mesh Tree
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-
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-
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Rendering flags
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"""""""""""""""
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These toggle the OpenGL effects in the Rendering section, and correspond to the shortcuts declared in ``mjRNDSTRING``.
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Flags with no shortcut assigned (Depth, Id Color and Cull Face) are omitted.
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.. list-table::
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:width: 95%
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:align: left
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:widths: 1 3 1 3
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:header-rows: 1
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* - Key
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- Flag
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- Key
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- Flag
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* - ``S``
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- Shadow
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- ``W``
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- Wireframe
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* - ``R``
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- Reflection
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- ``L``
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- Additive
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* - ``K``
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- Skybox
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- ``G``
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- Fog
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* - ``/``
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- Haze
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-
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-
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Mouse
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"""""
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.. list-table::
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:width: 95%
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:align: left
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:widths: 2 3
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:header-rows: 1
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* - Action
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- Effect
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* - Left drag
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- Orbit the camera
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* - Right drag
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- Pan camera in vertical plane
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* - ``Shift`` right drag
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- Pan camera in horizontal plane
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* - Scroll, or middle drag
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- Zoom
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* - Double-click
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- Select an object
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* - Right double-click
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- Center the camera on the clicked point
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* - ``Ctrl`` right double-click
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- Track the selected body
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* - ``Ctrl`` drag
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- Rotate the selected object
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* - ``Ctrl`` right drag
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- Translate object in vertical plane
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* - ``Ctrl`` ``Shift`` right drag
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- Translate object in horizontal plane
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* - Right-button hold over the UI
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- Show the shortcut of each UI control
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* - Double-click a UI section title
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- Expand / collapse all sections
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The code is long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview.
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The code is long yet reasonably commented, so it is best to just read it. Here we provide a high-level overview.
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The ``main()`` function initializes both MuJoCo and GLFW, opens a window, and install GLFW callbacks for mouse and
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The ``main()`` function initializes both MuJoCo and GLFW, opens a window, and install GLFW callbacks for mouse and
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