diff --git a/examples/so100-remote/parse_keyboard.py b/examples/so100-remote/parse_keyboard.py
index 8483916e..95ba3435 100644
--- a/examples/so100-remote/parse_keyboard.py
+++ b/examples/so100-remote/parse_keyboard.py
@@ -2,6 +2,7 @@
 
 import time
 
+import numpy as np
 import pyarrow as pa
 from dora import Node
 
@@ -10,13 +11,19 @@ node = Node()
 
 now = time.time()
 
-for j in range(100):
+for j in range(0, 100):
     for i in range(110):
         time.sleep(0.033)
+        x = 0.0 + (j * 0.005)
+        y = -0.1 - (i * 0.001)
+        if x == 0:
+            theta = -1.8
+        else:
+            theta = np.arctan(y / x)
 
-        print("Sending action")
+        print("Sending action: ", x, y, theta)
         node.send_output(
             "action",
-            pa.array([0.0 + (j * 0.005), -0.1 - (i * 0.001), 0.18, -3.1, -1.8, 0.45]),
+            pa.array([0.0 + (j * 0.005), -0.1 - (i * 0.001), 0.18, -3.1, theta, 0.45]),
             metadata={"encoding": "xyzrpy"},
         )