| Mobile touch | Thumbstick (bottom-left) to drive · drag right side to orbit camera · tap floor to steer |
| WASD / arrows | drive (camera-relative) |
| Left click / tap | send the bot to a point / steer it with the cursor |
| Right drag · QE | orbit camera |
| Wheel / pinch | zoom |
| Space | stop |
| P | autopilot (training parkour waypoints) |
| T | time trial: grab 10 orbs |
| R · Backspace | get up in place · reset to centre |
| C | chase / top-down camera |
Each control tick (25 Hz) the PPO policy trained on the A100 sees the waypoint you set and outputs 24 tendon-section commands. Physics is MuJoCo at 250 Hz on the same model as training.