diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/keyboard_server.launch.py b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/keyboard_server.launch.py
new file mode 100644
index 000000000..234e9b74c
--- /dev/null
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/keyboard_server.launch.py
@@ -0,0 +1,54 @@
+# Copyright 2021 RobosoftAI Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, OpaqueFunction
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from ament_index_python.packages import get_package_share_directory
+from moveit_configs_utils import MoveItConfigsBuilder
+
+
+def generate_launch_description():
+
+    declared_arguments = []
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "rviz_config",
+            default_value="panda_moveit_config_demo.rviz",
+            description="RViz configuration file",
+        )
+    )
+
+    return LaunchDescription(declared_arguments + [OpaqueFunction(function=launch_setup)])
+
+
+def launch_setup(context, *args, **kwargs):
+
+    keyboard_client_node = Node(
+        package="keyboard_client",
+        executable="keyboard_server_node.py",
+        name="keyboard_client",
+        output="screen",
+        prefix="xterm -hold -e",
+        arguments=["--ros-args", "--log-level", "INFO"],
+    )
+
+    nodes_to_start = [
+        keyboard_client_node,
+    ]
+
+    return nodes_to_start
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/sm_multi_panda_sim.launch.py b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/sm_multi_panda_sim.launch.py
index 2ad945367..c6886fc72 100644
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/sm_multi_panda_sim.launch.py
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/launch/sm_multi_panda_sim.launch.py
@@ -41,4 +41,14 @@ def generate_launch_description():
         )
     )
 
-    return LaunchDescription([panda_arm_1, panda_arm_2])
+    keyboard_server = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("sm_multi_panda_sim"),
+                "launch",
+                "keyboard_server.launch.py",
+            )
+        )
+    )
+
+    return LaunchDescription([panda_arm_1, panda_arm_2, keyboard_server])
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/config/move_group_client/known_states/control_authority_posture2.yaml b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/config/move_group_client/known_states/control_authority_posture2.yaml
index a8c023890..28318c0c3 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/config/move_group_client/known_states/control_authority_posture2.yaml
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/config/move_group_client/known_states/control_authority_posture2.yaml
@@ -1,4 +1,3 @@
 joint_states:
     panda_finger_joint1: 0.03
     panda_finger_joint2: 0.03
-