diff --git a/docs/docs/docs/features/envhub_support.md b/docs/docs/docs/features/envhub_support.md
index af87bab6..8dc0cb58 100644
--- a/docs/docs/docs/features/envhub_support.md
+++ b/docs/docs/docs/features/envhub_support.md
@@ -37,6 +37,9 @@ EnvHub exposes every LeIsaac-supported task in a uniform interface. The examples
 
 ### Random Action
 
+<details>
+<summary><strong>Example code for envhub_random_action.py</strong></summary>
+
 ```python
 # envhub_random_action.py
 
@@ -64,6 +67,8 @@ while True:
 env.close()
 ```
 
+</details>
+
 ```bash
 python envhub_random_action.py
 ```
@@ -86,6 +91,9 @@ lerobot-calibrate \
 
 And then launch the teleop script.
 
+<details>
+<summary><strong>Example code for envhub_teleop_example.py</strong></summary>
+
 ```python
 # envhub_teleop_example.py
 
@@ -200,6 +208,8 @@ if __name__ == "__main__":
 
 ```
 
+</details>
+
 ```bash
 python envhub_teleop_example.py
 ```
diff --git a/docs/docs/docs/getting_started/installation.md b/docs/docs/docs/getting_started/installation.md
index fbd7bfc7..c4d65993 100644
--- a/docs/docs/docs/getting_started/installation.md
+++ b/docs/docs/docs/getting_started/installation.md
@@ -52,7 +52,7 @@ pip install "isaacsim[all,extscache]==5.1.0" --extra-index-url https://pypi.nvid
 # Install IsaacLab
 sudo apt install cmake build-essential
 
-cd dependencies/IsaacLab
+cd leisaac/dependencies/IsaacLab
 ./isaaclab.sh --install
 ```
 
diff --git a/docs/docs/docs/getting_started/teleoperation.md b/docs/docs/docs/getting_started/teleoperation.md
index dfcff79d..a64bf437 100644
--- a/docs/docs/docs/getting_started/teleoperation.md
+++ b/docs/docs/docs/getting_started/teleoperation.md
@@ -17,7 +17,7 @@ python scripts/environments/teleoperation/teleop_se3_agent.py \
 ```
 
 <details>
-<summary><strong>Parameter descriptions for teleop_se3_agent.py</strong></summary><p></p>
+<summary><strong>Parameter descriptions for teleop_se3_agent.py</strong></summary>
 
 - `--task`: Specify the task environment name to run, e.g., `LeIsaac-SO101-PickOrange-v0`.
 
diff --git a/docs/docs/resources/available_devices.md b/docs/docs/resources/available_devices.md
index 13559373..38805ab5 100644
--- a/docs/docs/resources/available_devices.md
+++ b/docs/docs/resources/available_devices.md
@@ -35,7 +35,7 @@ The keyboard mapping is as follows:
 | `A` / `D` | Left/right, aligned with the green arrows in the translation diagram          |
 | `Q` / `E` | Up/down, aligned with the blue arrows in the translation diagram              |
 | `J` / `L` | Rotate (yaw) left/right, aligned with the blue arrows in the rotation diagram |
-| `I` / `K` | Rotate (pitch) up/down, aligned with the green arrows in the rotation diagram |
+| `K` / `I` | Rotate (pitch) up/down, aligned with the green arrows in the rotation diagram |
 | `U` / `O` | Gripper open/close                                                            |
 
 
diff --git a/source/leisaac/leisaac/devices/keyboard/so101_keyboard.py b/source/leisaac/leisaac/devices/keyboard/so101_keyboard.py
index 5143ca36..69f60e31 100644
--- a/source/leisaac/leisaac/devices/keyboard/so101_keyboard.py
+++ b/source/leisaac/leisaac/devices/keyboard/so101_keyboard.py
@@ -25,7 +25,7 @@ class SO101Keyboard(Device):
         Left/Right                      A                 D
         Up/Down                         Q                 E
         Rotate (Yaw) Left/Right         J                 L
-        Rotate (Pitch) Up/Down          I                 K
+        Rotate (Pitch) Up/Down          K                 I
         Gripper Open/Close              U                 O
         ============================== ================= =================
 
@@ -83,7 +83,7 @@ def __str__(self) -> str:
         msg += "\tLeft/Right:                      A / D\n"
         msg += "\tUp/Down:                         Q / E\n"
         msg += "\tRotate (Yaw) Left/Right:         J / L\n"
-        msg += "\tRotate (Pitch) Up/Down:          I / K\n"
+        msg += "\tRotate (Pitch) Up/Down:          K / I\n"
         msg += "\tGripper Open/Close:              U / O\n"
         msg += "\t----------------------------------------------\n"
         msg += "\tStart Control: B\n"
@@ -155,8 +155,8 @@ def _create_key_bindings(self):
             "D": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0]) * self.joint_sensitivity,
             "Q": np.asarray([1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) * self.pos_sensitivity,
             "E": np.asarray([-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) * self.pos_sensitivity,
-            "I": np.asarray([0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
-            "K": np.asarray([0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
+            "K": np.asarray([0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
+            "I": np.asarray([0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0]) * self.rot_sensitivity,
             "J": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0]) * self.rot_sensitivity,
             "L": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0]) * self.rot_sensitivity,
             "U": np.asarray([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0]) * self.joint_sensitivity,