diff --git a/script/launch_gripper_sim.sh b/script/launch_gripper_sim.sh
new file mode 100755
index 0000000000000000000000000000000000000000..ba8f357af076df663444ce02b08163867562da36
--- /dev/null
+++ b/script/launch_gripper_sim.sh
@@ -0,0 +1,8 @@
+#!/bin/bash 
+
+# create virtual serial port
+socat -d -d pty,raw,echo=0,link=/tmp/darwin_driver pty,raw,echo=0,link=/tmp/usart3_sim_serial_fw &
+
+ln -s /tmp/darwin_v1_user /tmp/usart1_sim_serial_fw
+ln -s /tmp/darwin_v2_user /tmp/usart2_sim_serial_fw
+ln -s /tmp/darwin_spi_fw /tmp/spi2_sim_serial_fw
diff --git a/script/launch_sim.sh b/script/launch_sim.sh
index ba8f357af076df663444ce02b08163867562da36..23540eabd3ca53d73254581c44a1dbdeba0ee6a8 100755
--- a/script/launch_sim.sh
+++ b/script/launch_sim.sh
@@ -3,6 +3,5 @@
 # create virtual serial port
 socat -d -d pty,raw,echo=0,link=/tmp/darwin_driver pty,raw,echo=0,link=/tmp/usart3_sim_serial_fw &
 
-ln -s /tmp/darwin_v1_user /tmp/usart1_sim_serial_fw
-ln -s /tmp/darwin_v2_user /tmp/usart2_sim_serial_fw
+ln -s /tmp/darwin_user /tmp/usart1_sim_serial_fw
 ln -s /tmp/darwin_spi_fw /tmp/spi2_sim_serial_fw