diff --git a/src/agent/gs_agent/wrappers/teleop_wrapper.py b/src/agent/gs_agent/wrappers/teleop_wrapper.py
index f3f18260..4e7c2555 100644
--- a/src/agent/gs_agent/wrappers/teleop_wrapper.py
+++ b/src/agent/gs_agent/wrappers/teleop_wrapper.py
@@ -7,6 +7,7 @@
 import numpy as np
 import torch
 from pynput import keyboard
+from scipy.spatial.transform import Rotation as R
 
 from gs_agent.bases.env_wrapper import BaseEnvWrapper
 
@@ -255,6 +256,7 @@ def _process_input(self) -> KeyboardCommand:
         # get ee target pose
         is_close_gripper = False
         dpos = 0.005
+        drot = 0.01
         for key in pressed_keys:
             if key == keyboard.Key.up:
                 self.target_position[0, 0] -= dpos
@@ -269,9 +271,27 @@ def _process_input(self) -> KeyboardCommand:
             elif key == keyboard.KeyCode.from_char("m"):
                 self.target_position[0, 2] -= dpos
             elif key == keyboard.KeyCode.from_char("j"):
-                raise NotImplementedError("Rotation not implemented")
+                # keep the end effector vertical down, only change the rotation around the x axis
+                current_rotation = R.from_quat(self.target_orientation[0, :].cpu().numpy())
+                # get the current x axis rotation angle
+                current_euler = current_rotation.as_euler("xyz", degrees=False)
+                # only change the x axis rotation angle
+                new_euler = [current_euler[0] + drot, current_euler[1], current_euler[2]]
+                new_rotation = R.from_euler("xyz", new_euler)
+                self.target_orientation[0, :] = torch.from_numpy(new_rotation.as_quat()).to(
+                    self.target_orientation.device
+                )
             elif key == keyboard.KeyCode.from_char("k"):
-                raise NotImplementedError("Rotation not implemented")
+                # keep the end effector vertical down, only change the rotation around the x axis
+                current_rotation = R.from_quat(self.target_orientation[0, :].cpu().numpy())
+                # get the current x axis rotation angle
+                current_euler = current_rotation.as_euler("xyz", degrees=False)
+                # only change the x axis rotation angle
+                new_euler = [current_euler[0] - drot, current_euler[1], current_euler[2]]
+                new_rotation = R.from_euler("xyz", new_euler)
+                self.target_orientation[0, :] = torch.from_numpy(new_rotation.as_quat()).to(
+                    self.target_orientation.device
+                )
             elif key == keyboard.Key.space:
                 is_close_gripper = True