diff --git a/src/HW-Devices/hardware/include/TalonSRXWrapper.hpp b/src/HW-Devices/hardware/include/TalonSRXWrapper.hpp
index 83b1553..16c09ca 100644
--- a/src/HW-Devices/hardware/include/TalonSRXWrapper.hpp
+++ b/src/HW-Devices/hardware/include/TalonSRXWrapper.hpp
@@ -40,7 +40,9 @@ class TalonSRXWrapper : public BaseWrapper {
   static void setup();
 
 private:
-  enum class SensorType { PWM, RELATIVE, ANALOG };
+  enum class SensorType { PWM, RELATIVE, ANALOG, NONE };
+  static SensorType sensor_type_from_str(std::string str);
+  int get_load_enc() const;
 
   // Parameters
   int id_;
@@ -51,6 +53,7 @@ class TalonSRXWrapper : public BaseWrapper {
   double sensor_offset_ticks_;
   ctre::phoenix::motorcontrol::ControlMode control_type_;
   SensorType sensor_type_;
+  SensorType load_sensor_;
   int sensor_ticks_;
   bool crossover_mode_;
   bool inverted_;
@@ -59,6 +62,11 @@ class TalonSRXWrapper : public BaseWrapper {
   rclcpp::Time start_time_;
   rclcpp::Publisher<ros_phoenix::msg::MotorStatus>::SharedPtr debug_pub_;
   static constexpr double kWaitDurationSec = 5.0;
+  static inline std::map<std::string, SensorType> sensor_type_map = {
+      {"quadrature", SensorType::RELATIVE},
+      {"absolute", SensorType::PWM},
+      {"analog", SensorType::ANALOG},
+      {"none", SensorType::NONE}};
 
   // Talon-specific handle
   std::shared_ptr<ctre::phoenix::motorcontrol::can::TalonSRX> talon_controller_;
diff --git a/src/HW-Devices/hardware/src/TalonSRXWrapper.cpp b/src/HW-Devices/hardware/src/TalonSRXWrapper.cpp
index 15cc5a9..e7cc731 100644
--- a/src/HW-Devices/hardware/src/TalonSRXWrapper.cpp
+++ b/src/HW-Devices/hardware/src/TalonSRXWrapper.cpp
@@ -18,7 +18,9 @@ TalonSRXWrapper::TalonSRXWrapper(const hardware_interface::ComponentInfo &joint,
     if (param.first == "can_id") {
       id_ = std::stoi(param.second);
     } else if (param.first == "sensor_type") {
-      sensor_type_str = param.second;
+      sensor_type_ = sensor_type_from_str(param.second);
+    } else if (param.first == "load_sensor") {
+      load_sensor_ = sensor_type_from_str(param.second);
     } else if (param.first == "sensor_ticks") {
       sensor_ticks_ = std::stoi(param.second);
     } else if (param.first == "sensor_offset") {
@@ -77,20 +79,21 @@ TalonSRXWrapper::TalonSRXWrapper(const hardware_interface::ComponentInfo &joint,
   debug_pub_ = debug_node_->create_publisher<ros_phoenix::msg::MotorStatus>(
       joint.name + "/status", rclcpp::SystemDefaultsQoS());
 
-  std::transform(sensor_type_str.begin(), sensor_type_str.end(),
-                 sensor_type_str.begin(),
-                 [](unsigned char c) { return std::tolower(c); });
-  if (sensor_type_str == "quadrature") {
-    sensor_type_ = SensorType::RELATIVE;
-  } else if (sensor_type_str == "absolute") {
-    sensor_type_ = SensorType::PWM;
-  } else if (sensor_type_str == "analog") {
-    sensor_type_ = SensorType::ANALOG;
-  }
   sensor_offset_ticks_ =
       static_cast<int>(sensor_offset * sensor_ticks_ / (2.0 * M_PI));
 }
 
+TalonSRXWrapper::SensorType
+TalonSRXWrapper::sensor_type_from_str(std::string str) {
+  std::transform(str.begin(), str.end(), str.begin(),
+                 [](unsigned char c) { return std::tolower(c); });
+  const auto itr = sensor_type_map.find(str);
+  if (itr == sensor_type_map.end()) {
+    return SensorType::NONE;
+  }
+  return itr->second;
+}
+
 void TalonSRXWrapper::pub_status() const {
   if (!talon_controller_ || !debug_pub_) {
     return;
@@ -176,6 +179,21 @@ void TalonSRXWrapper::read() {
   velocity_ = raw_velocity * 10 * (2.0 * M_PI) / sensor_ticks_;
 }
 
+int TalonSRXWrapper::get_load_enc() const {
+  auto &sensor_collection = talon_controller_->GetSensorCollection();
+  int abs_ticks = 0;
+  switch (load_sensor_) {
+  case SensorType::PWM:
+    return sensor_collection.GetPulseWidthPosition();
+  case SensorType::ANALOG:
+    return sensor_collection.GetAnalogIn();
+  case SensorType::RELATIVE:
+    return sensor_collection.GetQuadraturePosition();
+  default:
+    return 0;
+  }
+}
+
 void TalonSRXWrapper::configure() {
   BaseWrapper::configure();
   while (true) {
@@ -233,6 +251,9 @@ void TalonSRXWrapper::configure() {
   talon_controller_->SetStatusFramePeriod(
       StatusFrameEnhanced::Status_2_Feedback0, 20);
   talon_controller_->SetIntegralAccumulator(0);
+  if (load_sensor_ != SensorType::NONE) {
+    talon_controller_->SetSelectedSensorPosition(get_load_enc());
+  }
   read();
   if (control_type_ == motors::ControlMode::Position) {
     command_ = position_;
diff --git a/src/URDF/rover_urdf/urdf/arm_urdf.ros2_control.xacro b/src/URDF/rover_urdf/urdf/arm_urdf.ros2_control.xacro
index 92dd716..4d4e4b3 100644
--- a/src/URDF/rover_urdf/urdf/arm_urdf.ros2_control.xacro
+++ b/src/URDF/rover_urdf/urdf/arm_urdf.ros2_control.xacro
@@ -14,9 +14,10 @@
         <param name="kI">0.0005</param>
         <param name="kD">1.0</param>
         <param name="kF">0.0</param>
-        <param name="sensor_type">absolute</param> <!-- or "quadrature" -->
+        <param name="sensor_type">quadrature</param> <!-- or "quadrature" -->
+        <param name="load_sensor">absolute</param>
         <param name="sensor_ticks">4096</param>
-        <param name="sensor_offset">0.0</param>
+        <param name="sensor_offset">4.99</param>
         <param name="crossover">false</param> <!-- or "continuous" -->
         <param name="invert">false</param>
         <param name="invert_sensor">false</param>
@@ -31,9 +32,10 @@
         <param name="kI">0.001</param>
         <param name="kD">0.01</param>
         <param name="kF">0.0</param>
-        <param name="sensor_type">absolute</param> <!-- or "quadrature" -->
+        <param name="sensor_type">quadrature</param>
+        <param name="load_sensor">absolute</param>
         <param name="sensor_ticks">4096</param>
-        <param name="sensor_offset">0.0</param>
+        <param name="sensor_offset">1.9</param>
         <param name="crossover">false</param> <!-- or "continuous" -->
         <param name="invert">false</param>
         <param name="invert_sensor">false</param>
@@ -48,9 +50,10 @@
         <param name="kI">0.001</param>
         <param name="kD">0.0</param>
         <param name="kF">0.0</param>
-        <param name="sensor_type">absolute</param> <!-- or "quadrature" -->
+        <param name="sensor_type">quadrature</param>
+        <param name="load_sensor">absolute</param>
         <param name="sensor_ticks">4096</param>
-        <param name="sensor_offset">0.0</param>
+        <param name="sensor_offset">4.69494</param>
         <param name="crossover">false</param> <!-- or "continuous" -->
         <param name="invert">true</param>
         <param name="invert_sensor">true</param>
@@ -65,9 +68,10 @@
         <param name="kI">0.001</param>
         <param name="kD">0.001</param>
         <param name="kF">0.0</param>
-        <param name="sensor_type">absolute</param> <!-- or "quadrature" -->
+        <param name="sensor_type">quadrature</param>
+        <param name="load_sensor">absolute</param> 
         <param name="sensor_ticks">4096</param>
-        <param name="sensor_offset">0.0</param>
+        <param name="sensor_offset">3.26377</param>
         <param name="crossover">false</param> <!-- or "continuous" -->
         <param name="invert">false</param>
         <param name="invert_sensor">false</param>