Adding strafe and arrow control to keyboard telop

dimos/control/examples/twist_base_keyboard_teleop.py

@@ -15,13 +15,14 @@
 """Keyboard teleop for twist base via ControlCoordinator.
 
 Runs a mock holonomic twist base with pygame keyboard control.
-WASD keys publish Twist → coordinator's twist_command port → virtual joints
+The same bindings as `KeyboardTeleop` (arrows + WASD, Alt+A/D or Alt+←/→ strafe)
+publish Twist → coordinator's twist_command port → virtual joints
 → tick loop → MockTwistBaseAdapter.
 
 Controls:
-    W/S: Forward/backward (linear.x)
-    Q/E: Strafe left/right (linear.y)
-    A/D: Turn left/right (angular.z)
+    W/S and Up/Down: Forward/backward (linear.x)
+    A/D and Left/Right: Turn (angular.z)
+    Alt+A/D or Alt+←/→: Strafe left/right (linear.y)
     Shift: 2x boost
     Ctrl: 0.5x slow
     Space: Emergency stop

dimos/robot/unitree/keyboard_teleop.py

@@ -133,23 +133,39 @@ def _pygame_loop(self) -> None:
             twist.linear = Vector3(0, 0, 0)
             twist.angular = Vector3(0, 0, 0)
 
-            # Forward/backward (W/S)
-            if pygame.K_w in self._keys_held:
+            keys = self._keys_held
+
+            # Forward/backward — W/S or Up/Down (opposing keys cancel)
+            forward = pygame.K_w in keys or pygame.K_UP in keys
+            backward = pygame.K_s in keys or pygame.K_DOWN in keys
+            if forward and not backward:
                 twist.linear.x = self.linear_speed
-            if pygame.K_s in self._keys_held:
+            elif backward and not forward:
                 twist.linear.x = -self.linear_speed
 
-            # Strafe left/right (Q/E)
-            if pygame.K_q in self._keys_held:
-                twist.linear.y = self.linear_speed
-            if pygame.K_e in self._keys_held:
-                twist.linear.y = -self.linear_speed
-
-            # Turning (A/D)
-            if pygame.K_a in self._keys_held:
-                twist.angular.z = self.angular_speed
-            if pygame.K_d in self._keys_held:
-                twist.angular.z = -self.angular_speed
+            alt_held = pygame.K_LALT in keys or pygame.K_RALT in keys
+            alt_strafe = alt_held and (
+                pygame.K_a in keys
+                or pygame.K_d in keys
+                or pygame.K_LEFT in keys
+                or pygame.K_RIGHT in keys
+            )
+
+            # Alt + A/D or arrows: strafe (linear.y). Otherwise turn (yaw).
+            if alt_strafe:
+                strafe_left = pygame.K_a in keys or pygame.K_LEFT in keys
+                strafe_right = pygame.K_d in keys or pygame.K_RIGHT in keys
+                if strafe_left and not strafe_right:
+                    twist.linear.y = self.linear_speed
+                elif strafe_right and not strafe_left:
+                    twist.linear.y = -self.linear_speed
+            else:
+                turn_left = pygame.K_a in keys or pygame.K_LEFT in keys
+                turn_right = pygame.K_d in keys or pygame.K_RIGHT in keys
+                if turn_left and not turn_right:
+                    twist.angular.z = self.angular_speed
+                elif turn_right and not turn_left:
+                    twist.angular.z = -self.angular_speed
 
             # Apply speed modifiers (Shift = boost, Ctrl = slow)
             speed_multiplier = 1.0
@@ -196,7 +212,8 @@ def _update_display(self, twist: Twist) -> None:
             f"Linear Y (Strafe L/R): {twist.linear.y:+.2f} m/s",
             f"Angular Z (Turn L/R): {twist.angular.z:+.2f} rad/s",
             "",
-            "Keys: " + ", ".join([pygame.key.name(k).upper() for k in self._keys_held if k < 256]),
+            "Keys: "
+            + ", ".join(pygame.key.name(k).upper() for k in sorted(self._keys_held)),
         ]
 
         for text in texts:
@@ -213,7 +230,7 @@ def _update_display(self, twist: Twist) -> None:
 
         y_pos = 280
         help_texts = [
-            "WS: Move | AD: Turn | QE: Strafe",
+            "W/S & Up/Dn: Move | A/D & L/R: Turn | Alt+A/D or Alt+L/R: Strafe",
             "Shift: Boost | Ctrl: Slow",
             "Space: E-Stop | ESC: Quit",
         ]
@@ -223,3 +240,6 @@ def _update_display(self, twist: Twist) -> None:
             y_pos += 25
 
         pygame.display.flip()
+
+
+__all__ = ["KeyboardTeleop"]

dimos/web/command-center-extension/README.md

@@ -1,5 +1,7 @@
 # command-center-extension
 
+Keyboard teleop (after **Start Keyboard Control**): W/S and ↑/↓ forward/back, A/D and ←/→ turn, Alt+A/D or Alt+←/→ strafe, Space stop, Shift/Ctrl speed.
+
 ## Build and use
 
 Install the Node dependencies:

dimos/web/command-center-extension/src/KeyboardControlPanel.tsx

@@ -23,6 +23,7 @@ const controlKeys = new Set([
   " ",
   "Shift",
   "Control",
+  "Alt",
 ]);
 
 function isEditableTarget(target: EventTarget | null) {
@@ -52,32 +53,40 @@ function calculateVelocities(keys: Set<string>) {
     return { linearX: 0, linearY: 0, angularY: 0, angularZ: 0 };
   }
 
-  // Linear X (forward/backward) - W/S
-  if (keys.has("w")) {
+  const forward = keys.has("w") || keys.has("ArrowUp");
+  const backward = keys.has("s") || keys.has("ArrowDown");
+
+  // Linear X (forward/backward) - W/S or ↑/↓
+  if (forward && !backward) {
     linearX = linearSpeed * speedMultiplier;
-  } else if (keys.has("s")) {
+  } else if (backward && !forward) {
     linearX = -linearSpeed * speedMultiplier;
   }
 
-  // Angular Z (yaw/turn) - A/D
-  if (keys.has("a")) {
-    angularZ = angularSpeed * speedMultiplier;
-  } else if (keys.has("d")) {
-    angularZ = -angularSpeed * speedMultiplier;
-  }
-
-  // Linear Y (strafe) - Left/Right arrows
-  if (keys.has("ArrowLeft")) {
-    linearY = linearSpeed * speedMultiplier;
-  } else if (keys.has("ArrowRight")) {
-    linearY = -linearSpeed * speedMultiplier;
-  }
-
-  // Angular Y (pitch) - Up/Down arrows
-  if (keys.has("ArrowUp")) {
-    angularY = angularSpeed * speedMultiplier;
-  } else if (keys.has("ArrowDown")) {
-    angularY = -angularSpeed * speedMultiplier;
+  const altStrafe =
+    keys.has("Alt") &&
+    (keys.has("a") ||
+      keys.has("d") ||
+      keys.has("ArrowLeft") ||
+      keys.has("ArrowRight"));
+
+  // Alt + A/D or ←/→: strafe (linear Y). Otherwise those keys turn (yaw).
+  if (altStrafe) {
+    const strafeLeft = keys.has("a") || keys.has("ArrowLeft");
+    const strafeRight = keys.has("d") || keys.has("ArrowRight");
+    if (strafeLeft && !strafeRight) {
+      linearY = linearSpeed * speedMultiplier;
+    } else if (strafeRight && !strafeLeft) {
+      linearY = -linearSpeed * speedMultiplier;
+    }
+  } else {
+    const turnLeft = keys.has("a") || keys.has("ArrowLeft");
+    const turnRight = keys.has("d") || keys.has("ArrowRight");
+    if (turnLeft && !turnRight) {
+      angularZ = angularSpeed * speedMultiplier;
+    } else if (turnRight && !turnLeft) {
+      angularZ = -angularSpeed * speedMultiplier;
+    }
   }
 
   return { linearX, linearY, angularY, angularZ };
@@ -182,8 +191,8 @@ export default function KeyboardControlPanel({
       {isActive && (
         <div style={{ marginTop: 10, fontSize: 12, color: "#666" }}>
           <div>Controls:</div>
-          <div>W/S: Forward/Backward | A/D: Turn</div>
-          <div>Arrows: Strafe/Pitch | Space: Stop</div>
+          <div>W/S or ↑/↓: Forward/Backward | A/D or ←/→: Turn</div>
+          <div>Alt+A/D or Alt+←/→: Strafe | Space: Stop</div>
           <div>Shift: Boost | Ctrl: Slow</div>
         </div>
       )}

dimos/web/websocket_vis/README.md

@@ -14,7 +14,7 @@ Control:
 
 - Set navigation goal
 - Set GPS location goal
-- Keyboard teleop (WASD)
+- Keyboard teleop (W/S and arrows move, A/D and ←/→ turn, Alt+A/D or Alt+←/→ strafe — see command-center UI when enabled)
 - Trigger exploration
 
 ## What it Provides