diff --git a/stretch_core/nodes/keyboard_teleop b/stretch_core/nodes/keyboard_teleop
index 8354486..fd1eac4 100755
--- a/stretch_core/nodes/keyboard_teleop
+++ b/stretch_core/nodes/keyboard_teleop
@@ -89,54 +89,95 @@ class GetKeyboardCommands:
 
         c = kb.getch()
         #rospy.loginfo('c =', c)
+        
+        ####################################################
+        ## MOSTLY MAPPING RELATED CAPABILITIES
+        ## (There are non-mapping outliers.)
+        ####################################################
+
+        # Sequential performs a fixed number of autonomus mapping iterations
+        if (c == '!') and self.mapping_on:
+            number_iterations = 4
+            for n in range(number_iterations): 
+                trigger_request = TriggerRequest() 
+                trigger_result = node.trigger_global_localization_service(trigger_request)
+                rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+                
+        # Trigger localizing the robot to a new pose anywhere on the current map
         if ((c == '+') or (c == '=')) and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_global_localization_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger localizing the robot to a new pose that is near its current pose on the map
         if ((c == '-') or (c == '_')) and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_local_localization_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger driving the robot to the estimated next best place to perform a 3D scan
         if ((c == '\\') or (c == '|')) and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_drive_to_scan_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger performing a 3D scan using the D435i
         if (c == ' ') and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_head_scan_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger rotating the mobile base to align with the nearest 3D cliff detected visually
         if ((c == '[') or (c == '{')) and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_align_with_nearest_cliff_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # DEPRECATED: Trigger extend arm until contact
         if ((c == ']') or (c == '}')) and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_reach_until_contact_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # DEPRECATED: Trigger lower arm until contact
         if ((c == ':') or (c == ';')) and self.mapping_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_lower_until_contact_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+        ####################################################
+        
+
+        # Trigger Hello World whiteboard writing demo
         if ((c == '`') or (c == '~')) and self.hello_world_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_write_hello_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger open drawer demo with downward hook motion
         if ((c == 'z') or (c == 'Z')) and self.open_drawer_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_open_drawer_down_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger open drawer demo with upward hook motion
         if ((c == '.') or (c == '>')) and self.open_drawer_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_open_drawer_up_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger clean surface demo
         if ((c == '/') or (c == '?')) and self.clean_surface_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_clean_surface_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+            
+        # Trigger grasp object demo    
         if ((c == '\'') or (c == '\"')) and self.grasp_object_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_grasp_object_service(trigger_request)
             rospy.loginfo('trigger_result = {0}'.format(trigger_result))
+
+        # Trigger deliver object demo    
         if ((c == 'y') or (c == 'Y')) and self.deliver_object_on:
             trigger_request = TriggerRequest() 
             trigger_result = node.trigger_deliver_object_service(trigger_request)