diff --git a/simulate/simulate.cc b/simulate/simulate.cc
index bf4b4a13..2f5ee146 100644
--- a/simulate/simulate.cc
+++ b/simulate/simulate.cc
@@ -1141,17 +1141,74 @@ void AlignAndScaleView(mj::Simulate* sim, const mjModel* m) {
 }
 
 
-// copy qpos to clipboard as key
-void CopyPose(mj::Simulate* sim, const mjModel* m, const mjData* d) {
-  char clipboard[5000] = "<key qpos='";
+// copy state to clipboard as key
+void CopyKey(mj::Simulate* sim, const mjModel* m, const mjData* d, bool fp) {
+  char clipboard[5000] = "<key\n";
   char buf[200];
+  const char p_regular[] = "%g";
+  const char p_full[] = "%-22.16g";
+  const char* format = fp ? p_full : p_regular;
 
-  // prepare string
-  for (int i=0; i<m->nq; i++) {
-    mju::sprintf_arr(buf, i==m->nq-1 ? "%g" : "%g ", d->qpos[i]);
+  // time
+  mju::strcat_arr(clipboard, "  time=\"");
+  mju::sprintf_arr(buf, format, d->time);
+  mju::strcat_arr(clipboard, buf);
+
+  // qpos
+  mju::strcat_arr(clipboard, "\"\n  qpos=\"");
+  for (int i = 0; i < m->nq; i++) {
+    mju::sprintf_arr(buf, format, d->qpos[i]);
+    if (i < m->nq-1) mju::strcat_arr(buf, " ");
     mju::strcat_arr(clipboard, buf);
   }
-  mju::strcat_arr(clipboard, "'/>");
+
+  // qvel
+  mju::strcat_arr(clipboard, "\"\n  qvel=\"");
+  for (int i = 0; i < m->nv; i++) {
+    mju::sprintf_arr(buf, format, d->qvel[i]);
+    if (i < m->nv-1) mju::strcat_arr(buf, " ");
+    mju::strcat_arr(clipboard, buf);
+  }
+
+  // act
+  if (m->na > 0) {
+    mju::strcat_arr(clipboard, "\"\n  act=\"");
+    for (int i = 0; i < m->na; i++) {
+      mju::sprintf_arr(buf, format, d->act[i]);
+      if (i < m->na-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+  }
+
+  // ctrl
+  if (m->nu > 0) {
+    mju::strcat_arr(clipboard, "\"\n  ctrl=\"");
+    for (int i = 0; i < m->nu; i++) {
+      mju::sprintf_arr(buf, format, d->ctrl[i]);
+      if (i < m->nu-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+  }
+
+  if (m->nmocap > 0) {
+    // mocap_pos
+    mju::strcat_arr(clipboard, "\"\n  mpos=\"");
+    for (int i = 0; i < 3*m->nmocap; i++) {
+      mju::sprintf_arr(buf, format, d->mocap_pos[i]);
+      if (i < 3*m->nmocap-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+
+    // mocap_quat
+    mju::strcat_arr(clipboard, "\"\n  mquat=\"");
+    for (int i = 0; i < 4*m->nmocap; i++) {
+      mju::sprintf_arr(buf, format, d->mocap_quat[i]);
+      if (i < 4*m->nmocap-1) mju::strcat_arr(buf, " ");
+      mju::strcat_arr(clipboard, buf);
+    }
+  }
+
+  mju::strcat_arr(clipboard, "\"\n/>");
 
   // copy to clipboard
   sim->platform_ui->SetClipboardString(clipboard);
@@ -1412,8 +1469,9 @@ void UiEvent(mjuiState* state) {
         sim->pending_.align = true;
         break;
 
-      case 4:             // Copy pose
-        sim->pending_.copy_pose = true;
+      case 4:             // Copy key
+        sim->pending_.copy_key = true;
+        sim->pending_.copy_key_full_precision = sim->platform_ui->IsShiftKeyPressed();
         break;
 
       case 5:             // Adjust key
@@ -1967,9 +2025,10 @@ void Simulate::Sync() {
     pending_.align = false;
   }
 
-  if (pending_.copy_pose) {
-    CopyPose(this, m_, d_);
-    pending_.copy_pose = false;
+  if (pending_.copy_key) {
+    CopyKey(this, m_, d_, pending_.copy_key_full_precision);
+    pending_.copy_key = false;
+    pending_.copy_key_full_precision = false;
   }
 
   if (pending_.load_from_history) {
diff --git a/simulate/simulate.h b/simulate/simulate.h
index cd654192..23bdb604 100644
--- a/simulate/simulate.h
+++ b/simulate/simulate.h
@@ -144,7 +144,8 @@ class Simulate {
     std::optional<std::string> print_data;
     bool reset;
     bool align;
-    bool copy_pose;
+    bool copy_key;
+    bool copy_key_full_precision;
     bool load_from_history;
     bool load_key;
     bool save_key;
@@ -293,7 +294,7 @@ class Simulate {
     {mjITEM_BUTTON,    "Reset",         2, nullptr,              " #259"},
     {mjITEM_BUTTON,    "Reload",        5, nullptr,              "CL"},
     {mjITEM_BUTTON,    "Align",         2, nullptr,              "CA"},
-    {mjITEM_BUTTON,    "Copy pose",     2, nullptr,              "CC"},
+    {mjITEM_BUTTON,    "Copy state",    2, nullptr,              "CC"},
     {mjITEM_SLIDERINT, "Key",           3, &this->key,           "0 0"},
     {mjITEM_BUTTON,    "Load key",      3},
     {mjITEM_BUTTON,    "Save key",      3},