diff --git a/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml
index 2bb4f3cf7..80f75805e 100644
--- a/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml
+++ b/sr_robot_launch/config/left_bimanual_ur10e_arm_robot_hw.yaml
@@ -35,15 +35,18 @@ la_sr_ur_robot_hw:
   servoj_gain: 250
   
   servoj_lookahead_time: 0.07
-
-  reverse_port: 50004
   
-  script_sender_port: 50005
+  reverse_port: 51001
+
+  script_sender_port: 51002
+
+  trajectory_port: 51003
 
-  trajectory_port: 50006
+  script_command_port: 51004
 
   use_local_hardware_interface_param: true
 
   non_blocking_read: true
 
   wrench_prefix: left_
+ 
diff --git a/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml
index 711cf0bc6..6a170a733 100644
--- a/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml
+++ b/sr_robot_launch/config/left_ur10e_arm_robot_hw.yaml
@@ -36,14 +36,17 @@ la_sr_ur_robot_hw:
   
   servoj_lookahead_time: 0.1
 
-  reverse_port: 50004
+  reverse_port: 51001
 
-  script_sender_port: 50005
+  script_sender_port: 51002
 
-  trajectory_port: 50006
+  trajectory_port: 51003
+
+  script_command_port: 51004
 
   use_local_hardware_interface_param: true
 
   non_blocking_read: true
 
   wrench_prefix: left_
+ 
diff --git a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
index 45b6b9b5f..a1055cfa2 100644
--- a/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
+++ b/sr_robot_launch/config/right_ur10e_arm_robot_hw.yaml
@@ -42,8 +42,11 @@ ra_sr_ur_robot_hw:
 
   trajectory_port: 50003
 
+  script_command_port: 50004
+
   use_local_hardware_interface_param: true
   
   non_blocking_read: true
 
   wrench_prefix: right_
+