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Currently there isn't a way to reset all the keys to default (except by modifying the save file directly). It's probably easier just to set them back manually. Here are a list of all the default key bindings.
up: W
left: A
down: S
right: D
Rotate camera clockwise: [
Rotate camera anticlockwise: ]
orbit mod: Left Control
Zoom in: Page up
Zoom out: Page down
Zoom mod: Left Shift
Center camera: H
Rotate object anti-clockwise: Q
Rotate object clockwise: E
Demolish: X
Move: M
Expand: R
Fill in: F
Wall: T
Platform: P
Stairs: L
Pause: Space
Toggle speed: None
Take screenshot: F12
Task screenshot (no UI) F11
Search build menu: return/enter
I'd better get that reset to default button added!
Thank you, good sir!