> ## 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.

# useKeyboardTeleop

> Map keyboard keys to actuator controls

Map keyboard keys to actuator controls for teleoperation. Supports delta (hold), toggle (press), and set (hold) modes.

## Signature

```tsx theme={null}
useKeyboardTeleop(config: {
  bindings: Record<string, KeyBinding>;
  enabled?: boolean;
}): void
```

## Usage

```tsx theme={null}
import { ModelActuators, useKeyboardTeleop } from "mujoco-react";

function TeleopControls() {
  useKeyboardTeleop({
    bindings: {
      "w": { actuator: ModelActuators.franka.actuator1, delta: 0.1 },
      "s": { actuator: ModelActuators.franka.actuator1, delta: -0.1 },
      "a": { actuator: ModelActuators.franka.actuator2, delta: 0.1 },
      "d": { actuator: ModelActuators.franka.actuator2, delta: -0.1 },
      "space": { actuator: ModelActuators.franka.gripper, toggle: [0, 0.04] },
    },
    enabled: true,
  });

  return null;
}
```

## Binding Modes

### `delta` — Increment while held

Add a delta value to the actuator each frame while the key is held:

```tsx theme={null}
"w": { actuator: "forward", delta: 0.1 }
// While "w" is held: ctrl[forward] += 0.1 per frame
```

### `toggle` — Toggle between two values on press

Press once to set the first value, press again for the second:

```tsx theme={null}
import { ModelActuators } from "mujoco-react";

"space": { actuator: ModelActuators.franka.gripper, toggle: [0, 0.04] }
// Press space: ctrl[ModelActuators.franka.gripper] = 0
// Press again: ctrl[ModelActuators.franka.gripper] = 0.04
```

### `set` — Set value while held

Set a fixed value while the key is held, revert when released:

```tsx theme={null}
"x": { actuator: "brake", set: 1.0 }
// While 'x' is held: ctrl[brake] = 1.0
// On release: ctrl[brake] = previous value
```

## Config

| Field      | Type                         | Default      | Description                 |
| ---------- | ---------------------------- | ------------ | --------------------------- |
| `bindings` | `Record<string, KeyBinding>` | **required** | Key → actuator mapping      |
| `enabled`  | `boolean`                    | `true`       | Enable/disable all bindings |

## KeyBinding

```tsx theme={null}
interface KeyBinding {
  actuator: string;           // Actuator name
  delta?: number;             // Increment per frame while held
  toggle?: [number, number];  // Two values to alternate on press
  set?: number;               // Value while held
}
```

## Notes

* Key names use `KeyboardEvent.key` (lowercase for letters, `' '` for space, etc.)
* Multiple keys can target the same actuator
* Disabled when `enabled: false` — useful for modal UIs