diff --git a/talos_controller_configuration/config/tb_torque_control.yaml b/talos_controller_configuration/config/tb_torque_control.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..274b091c040e29da15998479b9b0d77234627755
--- /dev/null
+++ b/talos_controller_configuration/config/tb_torque_control.yaml
@@ -0,0 +1,32 @@
+leg_right_4_joint_force_control:
+  type: "ModuleTestbenchTorqueControl"
+
+  dt: 0.001
+
+  joints:
+    - leg_left_6_joint
+    
+  gains:
+    leg_left_6_joint: {p: 0.0, d: 0.0, i:  0.0, i_clamp: 0.0, torque_clamp: 0.0}
+
+leg_right_6_joint_force_control:
+  type: "ModuleTestbenchTorqueControl"
+
+  dt: 0.001
+
+  joints:
+    - leg_left_6_joint
+    
+  gains:
+    leg_left_6_joint: {p: 0.0, d: 0.0, i:  0.0, i_clamp: 0.0, torque_clamp: 0.0}
+    
+leg_right_5_joint_force_control:
+  type: "ModuleTestbenchTorqueControl"
+
+  dt: 0.001
+
+  joints:
+    - leg_left_5_joint
+    
+  gains:
+    leg_left_5_joint: {p: 0.0, d: 0.0, i:  0.0, i_clamp: 0.0, torque_clamp: 0.0}