huggingface · GGmorello · Jun 17, 2025 · Jun 17, 2025 · Jun 17, 2025
diff --git a/lerobot/common/teleoperators/keyboard/configuration_keyboard.py b/lerobot/common/teleoperators/keyboard/configuration_keyboard.py
@@ -14,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 
 from ..config import TeleoperatorConfig
 
@@ -25,6 +25,39 @@ class KeyboardTeleopConfig(TeleoperatorConfig):
     # TODO(Steven): Consider setting in here the keys that we want to capture/listen
     mock: bool = False
 
+    # Motor mappings for SO100 follower
+    motor_mappings: dict[str, dict[str, str]] = field(
+        default_factory=lambda: {
+            "shoulder_pan": {
+                "left": "a",
+                "right": "d",
+            },
+            "shoulder_lift": {
+                "up": "w",
+                "down": "s",
+            },
+            "elbow_flex": {
+                "up": "q",
+                "down": "e",
+            },
+            "wrist_flex": {
+                "up": "r",
+                "down": "f",
+            },
+            "wrist_roll": {
+                "left": "z",
+                "right": "x",
+            },
+            "gripper": {
+                "open": "g",
+                "close": "h",
+            },
+        }
+    )
+
+    # Step size for each motor movement
+    step_size: float = 5.0
+
 
 @TeleoperatorConfig.register_subclass("keyboard_ee")
 @dataclass

diff --git a/lerobot/common/teleoperators/keyboard/teleop_keyboard.py b/lerobot/common/teleoperators/keyboard/teleop_keyboard.py
@@ -17,7 +17,6 @@
 import logging
 import os
 import sys
-import time
 from queue import Queue
 from typing import Any
 
@@ -60,13 +59,22 @@ def __init__(self, config: KeyboardTeleopConfig):
         self.listener = None
         self.logs = {}
 
+        # Initialize current positions
+        self.current_positions = {f"{motor}.pos": 0.0 for motor in self.config.motor_mappings.keys()}
+
+        # Set limits for each motor
+        self.motor_limits = {
+            "shoulder_pan": (-100, 100),
+            "shoulder_lift": (-100, 100),
+            "elbow_flex": (-100, 100),
+            "wrist_flex": (-100, 100),
+            "wrist_roll": (-100, 100),
+            "gripper": (0, 100),
+        }
+
     @property
     def action_features(self) -> dict:
-        return {
-            "dtype": "float32",
-            "shape": (len(self.arm),),
-            "names": {"motors": list(self.arm.motors)},
-        }
+        return {f"{motor}.pos": float for motor in self.config.motor_mappings.keys()}
 
     @property
     def feedback_features(self) -> dict:
@@ -78,7 +86,7 @@ def is_connected(self) -> bool:
 
     @property
     def is_calibrated(self) -> bool:
-        pass
+        return True
 
     def connect(self) -> None:
         if self.is_connected:
@@ -119,21 +127,28 @@ def _drain_pressed_keys(self):
     def configure(self):
         pass
 
-    def get_action(self) -> dict[str, Any]:
-        before_read_t = time.perf_counter()
-
+    def get_action(self) -> dict[str, float]:
         if not self.is_connected:
             raise DeviceNotConnectedError(
                 "KeyboardTeleop is not connected. You need to run `connect()` before `get_action()`."
             )
 
         self._drain_pressed_keys()
 
-        # Generate action based on current key states
-        action = {key for key, val in self.current_pressed.items() if val}
-        self.logs["read_pos_dt_s"] = time.perf_counter() - before_read_t
+        for motor, mappings in self.config.motor_mappings.items():
+            for direction, key in mappings.items():
+                if key in self.current_pressed and self.current_pressed[key]:
+                    min_val, max_val = self.motor_limits[motor]
+                    current_val = self.current_positions[f"{motor}.pos"]
+
+                    if direction in ["up", "right", "open"]:
+                        new_val = min(current_val + self.config.step_size, max_val)
+                    else:
+                        new_val = max(current_val - self.config.step_size, min_val)
+
+                    self.current_positions[f"{motor}.pos"] = new_val
 
-        return dict.fromkeys(action, None)
+        return self.current_positions
 
     def send_feedback(self, feedback: dict[str, Any]) -> None:
         pass

diff --git a/lerobot/teleoperate.py b/lerobot/teleoperate.py
@@ -49,17 +49,20 @@
     so100_follower,
     so101_follower,
 )
-from lerobot.common.teleoperators import (
+from lerobot.common.teleoperators import (  # noqa: F401
     Teleoperator,
     TeleoperatorConfig,
+    gamepad,
+    keyboard,
+    koch_leader,
     make_teleoperator_from_config,
+    so100_leader,
+    so101_leader,
 )
 from lerobot.common.utils.robot_utils import busy_wait
 from lerobot.common.utils.utils import init_logging, move_cursor_up
 from lerobot.common.utils.visualization_utils import _init_rerun
 
-from .common.teleoperators import gamepad, koch_leader, so100_leader, so101_leader  # noqa: F401
-
 
 @dataclass
 class TeleoperateConfig: