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is keyboard teleop possible #53
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You can implement it by adding and correctly configuring
DifferentialIKActionCfginsideaction_process.py.Than you also need to change the mapping in
se3_keyboard.py, so that you can send relative end-effector control commands.That allows you to have
w/a/s/dasxycoordinates,q/easzcoordinate, and you can put gripper at e.gj/k. (For simplicity I only had fixed rotation).Good luck. If I have more time this week, I may help out some more.
Reacted by EverNorif@rabhishek100 Yes, we provide a way to control lerobot with keyboard input. However, currently, only the mapping between keyboard keys and joint positions is supported. Do you mean that controlling with the keyboard is currently a bit difficult?
Reacted by Abhishek RamnathI thought only leader arm teleop was possible. Will try it out and report back. Thanks!
Tested it out, the keyboard teleop with the different keys for different joints is very unintuitive
@rabhishek100 This is indeed a known problem. We recommend using so101-leader for teleoperation. However, we will also work on improving the keyboard-based teleoperation in the future.
Reacted by Abhishek Ramnath- linked a pull request that will close this issuekeyboard teleoperation enhance and docs update. #75
on Nov 26, 2025 Hi @rabhishek100 , we have made some improvements to keyboard control. You can try it by following the instruction manual. Although it’s still somewhat challenging to operate, it’s much more intuitive than controlling each joint individually.
Thanks! Will do!
