diff --git a/rb_ws/src/buggy/config/sim_single_sc.yaml b/rb_ws/src/buggy/config/sim_single_sc.yaml
new file mode 100644
index 00000000..aa6836d1
--- /dev/null
+++ b/rb_ws/src/buggy/config/sim_single_sc.yaml
@@ -0,0 +1,4 @@
+/SC/SC_sim_single:
+   ros__parameters:
+      velocity: 1
+      pose: "Hill1_SC"
\ No newline at end of file
diff --git a/rb_ws/src/buggy/launch/sim_2d_single.xml b/rb_ws/src/buggy/launch/sim_2d_single.xml
index 2c62b1b1..c17f025f 100755
--- a/rb_ws/src/buggy/launch/sim_2d_single.xml
+++ b/rb_ws/src/buggy/launch/sim_2d_single.xml
@@ -1,24 +1,12 @@
 <launch>
 
+    <arg name="config_file" default="src/buggy/config/sim_single_sc.yaml"/>
+
     <node pkg="foxglove_bridge" exec="foxglove_bridge" name="foxglove" namespace="SC"/>
     
-    <node pkg="buggy" exec="sim_single" name="SC_sim_single" namespace="SC">
-        <param name="velocity" value="12"/>
-        <param name="pose" value="Hill1_SC"/>
-    </node>
-    <node pkg="buggy" exec="buggy_state_converter" name="SC_state_converter" namespace="SC"/>
     <node pkg="buggy" exec="controller" name="SC_controller" namespace="SC">
         <param name="dist" value="0.0"/>
         <param name="traj_name" value="buggycourse_safe.json"/>
         <param name="controller" value="stanley"/>
     </node>
-
-    <!-- <node pkg="buggy" exec="buggy_state_converter" name="NAND_state_converter" namespace="NAND"/>
-    <node pkg="buggy" exec="sim_single" name="NAND_sim_single" namespace="NAND">
-        <param name="velocity" value="12"/>
-        <param name="pose" value="Hill1_NAND"/>
-    </node> -->
-
-    <!-- <node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />
-    <node name="hello_world" pkg="buggy" type="hello_world" /> -->
 </launch>
\ No newline at end of file