Describes basic interactions with Gazebo GUI, rotating view angles, selecting/moving models, selecting/applying forces on objects.

Box Turtle

Basic GUI interface

• left mouse drag = change viewing camera pitch/yaw angle
• right mouse drag = pan camera (translate camera location linearly)
• mouse wheel or middle mouse drag = change zoom levle

Manipulating Models

To manipulate simulated objects at the model level (i.e. translating the entire PR2 model):

• ctrl + left mouse click = toggle model selection (ctrl + left mouse click on the same model to de-select it). Once a model is selected:
  • left mouse drag = rotate model along camera viewing axis
  • right mouse drag = force model translation along the viewing plane
  • mouse wheel = force model translation in the inertial z-axis of the world

Manipulating Bodies

To work with simulated objects at a lower level (i.e. apply force to a link of the robot):

• ctrl + right mouse click = toggle body selection (ctrl + right mouse click on the same body to de-select it). Once a body is selected:
  • left mouse drag = apply torque in the two viewing plane axis
  • right mouse drag = force apply linear force in the viewing plane axis
  • mouse wheel = force model translation in the inertial z-axis of the world

C Turtle

To be completed