### Gazebo Keyboard Shortcuts

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#### (On Mac, use Command in place of Ctrl)

Action | Operation | Instruction
--- | --- | ---
MODE
Enter Selection mode (default mode) | Esc | press Esc for mode to select models and right-click for context menu
Enter Rotate mode | r | press "r" for Rotate (model) mode
Enter Translate mode | t | press "t" for Translate (model) mode
Enter Scale mode | s | press "s" for Scale (model) mode
Enter Snap mode | n | press "n" for Snap (model) mode
MODELS
Delete model | Delete | press Delete when a model is selected to delete from scene
Copy model | Ctrl + c | press Ctrl + "c" when model is selected to copy
Paste model | Ctrl + v | press Ctrl + "v" to paste copied model
MANIPULATING MODELS
Rotate model | r | press "r" for Rotate mode; click model & rotate using markers
Translate model | t | press "t" for Translate mode; click model & translate using markers
Scale model | s | press "s" for Scale mode; click model & scale using markers
Constrain along axis | x/y/z | hold key while manipulating model to constrain movement along that axis
Snap to 45° when rotating | Ctrl + drag | hold Ctrl while rotating model to rotate in 45° increments
Snap to grid when translating | Ctrl + drag | hold Ctrl while translating model to snap to grid
Snap to 1 m when scaling | Ctrl + drag | hold Ctrl while scaling mode to scale in 1 m increments
Snap when inserting | Ctrl + drag | hold Ctrl while inserting model to enable snap to grid
Snap models together | n | press "n" for Snap mode; click one link, then a second to snap first link to second
GUI LAYOUT
Hide toolbars | Ctrl + h | hide/show top toolbar and bottom time panel
Enter fullscreen | F11 | enter/exit fullscreen

Action | Operation | Instruction
--- | --- | ---
EDITORS
Open Model Editor | Ctrl + m | open Model Editor to construct or edit models
Open Schematic View (Model Editor) | Ctrl + e | open Schematic View in Model Editor
Open Building Editor | Ctrl + b | open Building Editor to construct buildings
Show floor plan (Building Editor) | f | show/hide floor plan in Building Editor 2D View
Show building features (Building Editor) | g | show/hide building features in Building Editor 2D View
New canvas (both Editors) | Ctrl + n | create new canvas
Save model (both Editors) | Ctrl + s | save model for later use
Save as (both Editors) | Ctrl + Shift + s | save model for later use & give it a name
Exit (both Editors) | Ctrl + x | exit Editor
WORLD
Save world | Ctrl + s | press Ctrl + "s" to save world for later use
Save as | Ctrl + Shift + s | press Ctrl + Shift + "s" to save world for later use & give it a name
Reset world | Ctrl + r | press Ctrl + "r" to reset world to its original state
Reset model poses | Ctrl + Shift + r | press Ctrl + Shift + "r" to reset models to their original poses
Play / Pause simulation | Space | press Space to toggle the simulation paused state
DATA
Visualize topics | Ctrl + t | open dialog with list of topics currently advertized
Log data | Ctrl + d | open dialog to record log files
MISCELLANEOUS
Quit Gazebo | Ctrl + q | press Ctrl + "q" to quit Gazebo