diff --git a/tor_bringup/config/tor_hardware.yaml b/tor_bringup/config/tor_hardware.yaml
index 535234a67293832a8bc69c2068f17bfc60867d74..127342bb675744dd326f2cd1de255f81a5aec633 100644
--- a/tor_bringup/config/tor_hardware.yaml
+++ b/tor_bringup/config/tor_hardware.yaml
@@ -1,11 +1,13 @@
 actuators:
   raw_data:
     position_port: act_position
+    velocity_port: act_velocity
     effort_port: act_current
     mode_port: act_control_mode
     position_cmd_port: ref_position
     effort_cmd_port: ref_current
     mode_cmd_port: ref_control_mode
+    absolute_encoder_position_port: act_abs_position
     torque_sensor_port: act_torque
 
 e_stop:
diff --git a/tor_controller_configuration/config/tb_sine_sweep.yaml b/tor_controller_configuration/config/tb_sine_sweep.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f0da8304919fc8b44144c20166a5678c33e7ab78
--- /dev/null
+++ b/tor_controller_configuration/config/tb_sine_sweep.yaml
@@ -0,0 +1,7 @@
+tb_torque:
+  type: "ModuleTestbenchTorqueControl"
+
+  dt: 0.001
+
+  joints:
+    - leg_1_joint