/unpause the simulation.</li>
<li>RIGHT: Advance simulation by one step.</li>
<li>V: Start/stop video recording.</li>
<li>T: Capture screenshot.</li>
<li>I: Drop into <code class="docutils literal"><span class="pre">ipdb</span></code> debugger.</li>
<li>S/F: Decrease/Increase simulation playback speed.</li>
<li>C: Toggle visualization of contact forces (off by default).</li>
<li>D: Enable/disable frame skipping when rendering lags behind real time.</li>
<li>R: Toggle transparency of geoms.</li>
<li>M: Toggl