diff --git a/tor_bringup/config/tor_hardware.yaml b/tor_bringup/config/tor_hardware.yaml
index c0f6e328c20077d92a7bd1c54633260d589e625f..7916d061d506c7b40ee4b152845069ec25d88cc2 100644
--- a/tor_bringup/config/tor_hardware.yaml
+++ b/tor_bringup/config/tor_hardware.yaml
@@ -13,13 +13,19 @@ e_stop:
     e_stop_port: emergency_stop_state
 
 force_torque:
-  left_ft:
+  left_ankle_ft:
     frame: leg_left_6_link
+    transformation:
+      force: [x,-y,-z]
+      torque: [x,-y,-z]
     raw_data:
       force_port: force_ankle_left
       torque_port: torque_ankle_left
-  right_ft:
+  right_ankle_ft:
     frame: leg_right_6_link
+    transformation:
+      force: [x,-y,-z]
+      torque: [x,-y,-z]
     raw_data:
       force_port: force_ankle_right
       torque_port: torque_ankle_right
diff --git a/tor_controller_configuration/config/init_offset_controller.yaml b/tor_controller_configuration/config/init_offset_controller.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3ac7355bcb2c18dd839c771d8a8231dec225883d
--- /dev/null
+++ b/tor_controller_configuration/config/init_offset_controller.yaml
@@ -0,0 +1,19 @@
+init_offset_controller:
+  type: reemc_controllers/ReemcInitOffsetController 
+  joints:
+    - leg_left_1_joint
+    - leg_left_2_joint
+    - leg_left_3_joint
+    - leg_left_4_joint
+    - leg_left_5_joint
+    - leg_left_6_joint
+    - leg_right_1_joint
+    - leg_right_2_joint
+    - leg_right_3_joint
+    - leg_right_4_joint
+    - leg_right_5_joint
+    - leg_right_6_joint
+
+  left_ft_sensor: left_ankle_ft
+  right_ft_sensor: right_ankle_ft
+  base_imu_sensor: base_imu
diff --git a/tor_controller_configuration/config/joint_trajectory_controllers.yaml b/tor_controller_configuration/config/joint_trajectory_controllers.yaml
index fbdd8e072c8a2cbe95c72beaea0ae32392654bda..82efac763aeb6053e8e4d7e49f57e4f1661703db 100644
--- a/tor_controller_configuration/config/joint_trajectory_controllers.yaml
+++ b/tor_controller_configuration/config/joint_trajectory_controllers.yaml
@@ -9,7 +9,7 @@ left_leg_controller:
     - leg_left_6_joint
   constraints:
     goal_time: &goal_time_constraint 0.6
-    stopped_velocity_tolerance: *stopped_velocity_constraint
+    stopped_velocity_tolerance: &stopped_velocity_constraint 0.05
     arm_left_1_joint:
       goal: &goal_pos_constraint 0.02
     arm_left_2_joint:
diff --git a/tor_controller_configuration/launch/tor_homing_controller.launch b/tor_controller_configuration/launch/tor_homing_controller.launch
new file mode 100644
index 0000000000000000000000000000000000000000..693554fbb88fd712360e6e37a7121dc0df408907
--- /dev/null
+++ b/tor_controller_configuration/launch/tor_homing_controller.launch
@@ -0,0 +1,10 @@
+<launch>
+
+  <rosparam command="load" file="$(find tor_controller_configuration)/config/homing_controller.yaml" />
+
+  <!-- Controllers that come up started -->
+  <node name="controllers_spawner"
+        pkg="controller_manager" type="spawner" output="screen"
+        args="homing_controller" />
+
+</launch>