Open iOS simulator by UDID or run test on opened simulator

Hello colleagues!
I have an issue to run test parallel on appium. I know that now we can opened more than one simulators on machine using FBSimControl -, but i have a problem with appium. I opened simulator, but when i start appium, it reopen iOS simulator, and launch simulator which set in appium parameters. Can appium connect to launched simulator or maybe appium can opened simulator by UDID?

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