diff --git a/stretch_core/nodes/keyboard_teleop b/stretch_core/nodes/keyboard_teleop
index 453f6a2..cf6f618 100755
--- a/stretch_core/nodes/keyboard_teleop
+++ b/stretch_core/nodes/keyboard_teleop
@@ -98,6 +98,21 @@ class GetKeyboardCommands:
         print('                                           ')
         print('  step size:  b BIG, m MEDIUM, s SMALL     ')
         print('                                           ')
+        if self.mapping_on:
+            print('                                           ')
+            print('     = GLOBAL LOCALIZATION                 ')
+            print('     - LOCAL LOCALIZATION                  ')
+            print('     \ EXPLORE                             ')
+            print('     <spacebar> HEAD SCAN                  ')
+            print('     [ ALIGN CLIFF                         ')
+            print('     ] REACH UNTIL CONTACT                 ')
+            print('     ; LOWER UNTIL CONTACT                 ')
+            print('     ! HEAD SCAN + EXPLORE (x4)            ')
+            print('                                           ')
+        if self.grasp_object_on:
+            print('                                           ')
+            print('     \' GRASP OBJECT            ')
+            print('                                           ')
         print('              q QUIT                       ')
         print('                                           ')
         print('-------------------------------------------')