diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp
index b5ae0c31864aacd183ab06ed161c26013f486363..b77450b66525c525dc6bd42227ac8f57b469c51d 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.cpp
@@ -193,11 +193,20 @@ QPointer<QWidget> Viewer3DWidget::getCustomTitlebarWidget(QWidget* parent)
     customToolbar->setIconSize(QSize(16, 16));
     customToolbar->addAction(QIcon(":/icons/configure-3.png"), "Configure", this, SLOT(configDialogOpen()));
 
-    viewingModeAction = customToolbar->addAction(QIcon(":/icons/hand.svg"), "Viewing Mode (v)", this, SLOT(toggleViewingMode()));
+    viewingModeAction = customToolbar->addAction(QIcon(":/icons/hand.svg"), "Viewing Mode (V)", this, SLOT(toggleViewingMode()));
     viewingModeAction->setShortcut(QKeySequence(Qt::Key_V));
+    viewingModeAction->setShortcutContext(Qt::WidgetWithChildrenShortcut);
+    getWidget()->addAction(viewingModeAction);
     viewingModeAction->setCheckable(true);
     viewingModeAction->setChecked(true);
 
+    QAction* viewAllAction = new QAction(QIcon(":icons/zoom-original-2.png"), "View All (A)", getWidget());
+    customToolbar->addAction(viewAllAction);
+    viewAllAction->setShortcut(QKeySequence(tr("A")));
+    viewAllAction->setShortcutContext(Qt::WidgetWithChildrenShortcut);
+    connect(viewAllAction, SIGNAL(triggered()), this, SLOT(viewAll()));
+    getWidget()->addAction(viewAllAction);
+
     return customToolbar;
 }
 
@@ -272,6 +281,14 @@ void Viewer3DWidget::toggleViewingMode()
     ARMARX_INFO << "Viewing mode " << (viewer->isViewing() ? "enabled" : "disabled");
 }
 
+void Viewer3DWidget::viewAll()
+{
+    if (viewer)
+    {
+        viewer->viewAll();
+    }
+}
+
 void Viewer3DWidget::configDialogOpen()
 {
     SbColor c = viewer->getBackgroundColor();
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h
index c61c4c4ed150d93a4c05b1619a1787c61681e72a..c449b0e166136a86fc344fecb1f2514a782f20eb 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/ViewerWidget.h
@@ -81,6 +81,7 @@ namespace armarx
         void configDialogLoadSettings();
         void configDialogPickColor(QColor color = QColor::Invalid);
         void toggleViewingMode();
+        void viewAll();
 
     private:
         Ui_Viewer3DWidget* ui;