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A full list of hotkeys are found in Help tab > Mouse and Key shortcuts.

Hold the middle mouse button to move the camera sideways (dolly).

To orbit, hold the Alt key and drag with the middle mouse button.

Ctrl+Alt+middle mouse button lets you smooth zoom in and out. You can also scroll the mouse wheel to zoom in/out.

In Free look mode, you can use the W, A, S and D keys to navigate in the scene. Press the F2 to exit the mode.

The E and Q keys move the camera up and down.

While in Edit mode, holding the right mouse button allows you to use the W, A, S and D keys for navigation as well.