Webots User Guide - chapter 2 - section 4

Webots User Guide


2.4 The 3D Window

2.4.1 Selecting an object

A single mouse click allows to select a solid object. The bounding object of a selected solid is represented by white lines. These lines turn rose if the solid is colliding with another one. Selecting a robot enables the Show Robot Window item in the Tools menu. Double-clicking on a solid object opens the Scene Tree or Robot Window.

2.4.2 Navigation in the scene

Dragging the mouse while pressing a mouse button moves the camera of the 3D window.

If you are a Mac user with a single button mouse, hold the Alt key and press the mouse button to translate the camera according to the mouse motion. Hold the control key (Ctrl) down and press the mouse button to zoom / rotate the camera with the mouse motion.

2.4.3 Moving a solid object

To move an object: hold down the Shift key, then select the object and drag the mouse.

If you are a Mac user with a single button mouse, hold the Shift key and the Control key (Ctrl) down and press the mouse button to rotate the selected object according to mouse motion. Hold the Shift key and the Command key (key with Apple symbol) down and press the mouse button to lift the selected object according to mouse motion.

2.4.4 Applying a force to a solid object with physics

To apply a force to an object, place the mouse pointer where the force will apply, hold down the Alt key and left mouse button together while dragging the mouse. Linux users should also hold down the Control key (Ctrl) together with the Alt key. This way your are drawing a 3D-vector whose end is located in the plane parallel to the view which passes through the point of application. The intensity of the applied force is directly proportional to the cube of the length of this vector.

2.4.5 Applying a torque to a solid object with physics

To apply a torque to an object, place the mouse pointer on it, hold down the Alt key and right mouse button together while dragging the mouse. Linux users should also hold down the Control key (Ctrl) together with the Alt key. Also, Mac OS X users with a one-button mouse should hold down the Control key (Ctrl) to emulate the right mouse button. This way your are drawing a 3D-vector with origin the center of mass and whose end is located in the plane parallel to the view which passes through this center. The object is prompted to turn around the vector direction, the intensity of the applied torque being directly proportional to the product of the mass by the length of the 3D-vector.

In stop mode, you can simultaneously add a force and a torque to the same selected solid. Camera rotation can be useful when checking wether your force / torque vector has the desired direction.
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