> ## Documentation Index
> Fetch the complete documentation index at: https://dadd.mintlify.site/llms.txt
> Use this file to discover all available pages before exploring further.

# useKeyboardIkTarget

> Move an IK target with keyboard input

Move or rotate an existing `useIkController` target from keyboard input. This hook is robot-agnostic: it edits the IK target, then the normal IK solver writes controls for whichever joints and actuators the controller owns.

Use `useKeyboardTeleop` when keys should write actuator values directly. Use `useKeyboardIkTarget` when keys should behave like a keyboard-driven gizmo.

This hook is optional. Applications can still provide their own keyboard hook, custom IK solver via `ikSolveFn`, or plugin-style controller component that uses `useBeforePhysicsStep`, `useMujoco`, and `IkContextValue` directly.

## Usage

```tsx theme={null}
import { IkGizmo, ModelSites, useIkController, useKeyboardIkTarget } from "mujoco-react";

function Controls() {
  const ik = useIkController({ siteName: ModelSites.franka.tcp });

  useKeyboardIkTarget({
    controller: ik,
    translateSpeed: 0.2,
    rotateSpeed: 0.8,
    bindings: [
      { code: "KeyW", action: "y+" },
      { code: "KeyS", action: "y-" },
      { code: "KeyA", action: "x-" },
      { code: "KeyD", action: "x+" },
      { code: "KeyQ", action: "z+" },
      { code: "KeyE", action: "z-" },
      { code: "KeyR", action: "pitch+" },
      { code: "KeyF", action: "pitch-" },
      { code: "KeyZ", action: "roll+" },
      { code: "KeyC", action: "roll-" },
    ],
  });

  return ik ? <IkGizmo controller={ik} /> : null;
}
```

## Config

| Field            | Type                        | Default      | Description                                                    |
| ---------------- | --------------------------- | ------------ | -------------------------------------------------------------- |
| `controller`     | `IkContextValue \| null`    | **required** | Controller from `useIkController`                              |
| `bindings`       | `KeyboardIkTargetBinding[]` | **required** | Key code to target action mapping                              |
| `enabled`        | `boolean`                   | `true`       | Enable or disable all bindings                                 |
| `translateSpeed` | `number`                    | `0.25`       | Default translation speed in meters/second                     |
| `rotateSpeed`    | `number`                    | `1.0`        | Default rotation speed in radians/second                       |
| `frame`          | `"world" \| "target"`       | `"world"`    | Whether axes are world-relative or target-local                |
| `autoEnableIk`   | `boolean`                   | `true`       | Enable IK while bound keys are active                          |
| `syncOnStart`    | `boolean`                   | `true`       | Snap the target to the current site when keyboard input starts |
| `preventDefault` | `boolean`                   | `true`       | Prevent browser defaults for bound keys                        |

## Binding

```ts theme={null}
interface KeyboardIkTargetBinding {
  code: string;
  action:
    | "x+" | "x-"
    | "y+" | "y-"
    | "z+" | "z-"
    | "pitch+" | "pitch-"
    | "yaw+" | "yaw-"
    | "roll+" | "roll-";
  translateSpeed?: number;
  rotateSpeed?: number;
}
```

`code` uses `KeyboardEvent.code`, such as `KeyW`, `ArrowUp`, or `Space`.