The most basic way to add keyframes to your objects is to do it manually. Set the frame in the timeline to define the time in which you want to save that specific position, then select your object or objects and press I. A menu will appear in which you can choose between the different channels and transform the properties of that object, so you can record a keyframe in the desired channels. For example, you can set a keyframe just for the object’s location (Loc) or for its rotation (Rot), but to keep things simple, by using LocRotScale, you’ll set a keyframe to the three transform types, which is what you usually want.
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