The infinitive is used in Spanish in specific situations, generally when a command is directed to the general public through signs, for example in traffic, in towns, in public areas. It is also used when we are giving step-by-step instructions, for example in a recipe book, or when explaining how to build something.
If it is a negative command, you just place "No" in front of the infinitive. So there is no need to conjugate the verb.
Signs
Here are some examples:
Step-by-step instructions
The use of the infinitive as a command instead of the imperative makes the command a "softer" and more "polite". You will still sometimes find commands directed to the general public in the imperative, but the infinitive seems to be preferred in these cases.
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