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Open the Keyboard application from the dash, click on the Shortcuts tab, click the + button, enter:
Keyboard
Shortcuts
+
Name: Terminal Velocity Command: gnome-terminal -t "Terminal Velocity" -e /usr/local/bin/terminal_velocity
Then click on the shortcut to enter a keyboard command for it (I recommend ctrl+space).
TODO: If the keyboard shortcut is hit when there's already a Terminal Velocity window open, focus the window rather than opening another instance.