diff --git a/darwin_apps/launch/stairs_client_sim.launch b/darwin_apps/launch/stairs_client_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..36811a21feceb842e238c9a54c4362f5989e4102
--- /dev/null
+++ b/darwin_apps/launch/stairs_client_sim.launch
@@ -0,0 +1,61 @@
+<launch>
+
+  <arg name="robot" default="darwin" />
+  <arg name="environment" default="stairs_env" />
+
+  <include file="$(find darwin_description)/launch/darwin_sim.launch">
+    <arg name="robot" value="$(arg robot)" />
+  </include>
+
+  <include file="$(find bioloid_description)/launch/stairs_env.launch">
+    <arg name="environment" value="$(arg environment)" />
+  </include>
+
+  <!-- launch the stairs client node -->
+  <node name="stairs_client"
+        pkg="stairs_client"
+        type="stairs_client"
+        output="screen"
+        ns="/darwin">
+    <param name="SHIFT_WEIGHT_RIGHT_TIME"    value="1.6"/>
+    <param name="RISE_RIGHT_FOOT_TIME"       value="3.2"/>
+    <param name="ADVANCE_RIGHT_FOOT_TIME"    value="4.8"/>
+    <param name="CONTACT_RIGHT_FOOT_TIME"    value="6.4"/>
+    <param name="SHIFT_WEIGHT_RIGHT_TIME"    value="8.0"/>
+    <param name="RISE_LEFT_FOOT_TIME"        value="9.6"/>
+    <param name="ADVANCE_LEFT_FOOT_TIME"     value="11.2"/>
+    <param name="CONTACT_LEFT_FOOT_TIME"     value="12.8"/>
+    <param name="CENTER_WEIGHT_TIME"         value="14.4"/>
+    <param name="X_OFFSET"                   value="-0.01"/>
+    <param name="Y_OFFSET"                   value="0.005"/>
+    <param name="Z_OFFSET"                   value="0.02"/>
+    <param name="R_OFFSET"                   value="0.0"/>
+    <param name="P_OFFSET"                   value="0.0"/>
+    <param name="A_OFFSET"                   value="0.0"/>
+    <param name="Y_SHIFT"                    value="0.04"/>
+    <param name="X_SHIFT"                    value="0.08"/>
+    <param name="Z_OVERSHOOT"                value="0.015"/>
+    <param name="Z_HEIGHT"                   value="0.03"/>
+    <param name="HIP_PITCH_OFFSET"           value="0.23"/>
+    <param name="R_SHIFT"                    value="0.05"/>
+    <param name="P_SHIFT"                    value="0.1"/>
+    <param name="A_SHIFT"                    value="0.3"/>
+    <param name="Y_SPREAD"                   value="0.02"/>
+    <param name="X_SHIFT_BODY"               value="0.035"/>
+    <remap from="/darwin/stairs_client/stairs_client/climb_stairs"
+             to="/darwin/robot/climb_stairs"/>
+    <remap from="/darwin/stairs_client/stairs_client/set_stairs_params"
+             to="/darwin/robot/set_stairs_params"/>
+    <remap from="/darwin/stairs_client/stairs_client/get_stairs_params"
+             to="/darwin/robot/get_stairs_params"/>
+    <remap from="/darwin/stairs_client/stairs_client/set_servo_modules"
+             to="/darwin/robot/set_servo_modules"/>
+    <remap from="/darwin/stairs_client/stairs_client/fallen_state"
+             to="/darwin/robot/fallen_state"/>
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>