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Add :map mappings to zathura and make them permanent. See zathurarc(5) for the full list of possible mappings.

You can create a mode-specific mapping by specifying the mode before the key: "[normal] <C-b>" = "scroll left";

Declarations
Type
attribute set of string
Default
{ }
Example
{
  "<right>" = "navigate next";
  D = "toggle_page_mode";
  "[fullscreen] <c-i>" = "zoom in";
}</c-i></right>