I need to do an IPO curve for the dRot channels, and I don’t know how to insert keys.
You open the IPO window with the Object selected and in Object Mode. Find dRotX in the right-hand column and Leftclick on it (it’ll turn white) then Ctrl-Leftclick on the IPO window grid where you want the first keyframe to appear, then second, third etc.
Then do the same for dLocY and dLocZ if necessary.
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After you’ve inserted the points, you can edit them manually by tabbing into Edit Mode with the curves selected and using the Transfrom Window (N key) to set exact positions.