Follow the initial Getting Started steps and then add the VRTK/Source/SDK/Simulator/[VRSimulator_CameraRig] prefab as a child of the SDK Setup GameObject.
Use the Left Alt to switch between mouse look and move a hand.
Press Tab to switch between left/right hands.
Hold Left Shift to change from translation to rotation for the hands.
Hold Left Ctrl to switch between X/Y and X/Z axis.
Additional button mappings can be found on SDK_InputSimulator on the prefab.
All button mappings can be remapped using the inspector on the prefab.