Desktop: click the view to look around with the mouse, WASD to walk, 1–6 jump to viewpoints, Esc releases the mouse.
Phone / tablet: drag on the view to look around, use the joystick in the bottom-left corner to walk.
Quest: press “Enter VR”. Left stick walks, right stick snap-turns, right trigger teleports (floor, stool and benches), A / X jumps to the next viewpoint.