NTRT Simulator  Version: Master
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Keyboard Commands

Keyboard Commands for NTRT

The NTRT GUI supports user interaction through the keyboard. Commands are listed below:

  • q - quit
  • spacebar - restart simulation
  • w - wireframe mode
  • r/right arrow - rotate the camera counterclockwise (right)
  • u - change ground texture
  • i/home - Pause (debug mode, muscles will dissapear
  • o - set camera to origin
  • end - Stop/Pause (not supported, will crash)
  • a - show collision boxes
  • f/up arrow - rotate camera forward/up
  • g - shading on/off
  • h - turn of debugging info (good for videos)
  • l/left arrow - rotate camera clockwise (left)
  • ; - Follow center of mass of structure
  • x/page up - zoom in
  • z/page down - zoom out
  • b/down arrow - rotate camera down
  • . - shoot bullets

These are built into our patched Bullet code. Source code location on your build config, but the default is depends env/build/bullet-2.82-r2704/Demos/OpenGL_FreeGlut*

*FreeGlut support pending: https://github.com/NASA-Tensegrity-Robotics-Toolkit/NTRTsim/issues/27

Version
1.1.0