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blender 2.81 I accidentally moved an object and can not undo it. How may I move the object to the world origin, and/or set the location of the object at the center of x, y, or z axes.

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You press Shift+s to set your Cursor "to origin", then you can press once again Shift+s and select "to Cursor" which will snap your selected object to the cursor, which you previously set back to origin.

To make new objects aligned to the center x, y and z axis, which is essentially at origin, just set the cursor back to origin. Thus new objects will be created there.

For completeness sake, setting the cursor to origin can also be done with the Shift+c shortcut, which avoids the pie-menu.

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Just to throw in a different option than using cursors ...

If you have the item panel open in the right hand side, then you can click and drag over the Location fields X,Y,Z and hit 0 then enter.

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    $\begingroup$ To clarify the location property of an object is relative to its parent. Above will work for object with no parent, or with parent located at (0, 0, 0). Codewise to set an object to global origin ob.matrix_world.translation = (0, 0, 0) will set the local coordinates accordingly. $\endgroup$ – batFINGER Dec 8 '19 at 4:03

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