diff --git a/controllers/rl_quadruped_controller/src/RlQuadrupedController.cpp b/controllers/rl_quadruped_controller/src/RlQuadrupedController.cpp
index a396936..6940d5e 100644
--- a/controllers/rl_quadruped_controller/src/RlQuadrupedController.cpp
+++ b/controllers/rl_quadruped_controller/src/RlQuadrupedController.cpp
@@ -112,6 +112,7 @@ namespace rl_quadruped_controller {
             RCLCPP_INFO(get_node()->get_logger(), "Controller Update Rate: %d Hz", ctrl_interfaces_.frequency_);
 
             if (foot_force_interface_types_.size() == 4) {
+                RCLCPP_INFO(get_node()->get_logger(), "Enable Estimator");
                 ctrl_component_.enable_estimator_ = true;
                 ctrl_component_.estimator_ = std::make_shared<Estimator>(ctrl_interfaces_, ctrl_component_);
             }
diff --git a/controllers/rl_quadruped_controller/src/robot/QuadrupedRobot.cpp b/controllers/rl_quadruped_controller/src/robot/QuadrupedRobot.cpp
index 473d6e3..353b933 100644
--- a/controllers/rl_quadruped_controller/src/robot/QuadrupedRobot.cpp
+++ b/controllers/rl_quadruped_controller/src/robot/QuadrupedRobot.cpp
@@ -12,17 +12,17 @@ QuadrupedRobot::QuadrupedRobot(CtrlInterfaces &ctrl_interfaces, const std::strin
     KDL::Tree robot_tree;
     kdl_parser::treeFromString(robot_description, robot_tree);
 
-    robot_tree.getChain(base_name, feet_names[0], fr_chain_);
-    robot_tree.getChain(base_name, feet_names[1], fl_chain_);
-    robot_tree.getChain(base_name, feet_names[2], rr_chain_);
-    robot_tree.getChain(base_name, feet_names[3], rl_chain_);
+    robot_tree.getChain(base_name, feet_names[0], fl_chain_);
+    robot_tree.getChain(base_name, feet_names[1], fr_chain_);
+    robot_tree.getChain(base_name, feet_names[2], rl_chain_);
+    robot_tree.getChain(base_name, feet_names[3], rr_chain_);
 
 
     robot_legs_.resize(4);
-    robot_legs_[0] = std::make_shared<RobotLeg>(fr_chain_);
-    robot_legs_[1] = std::make_shared<RobotLeg>(fl_chain_);
-    robot_legs_[2] = std::make_shared<RobotLeg>(rr_chain_);
-    robot_legs_[3] = std::make_shared<RobotLeg>(rl_chain_);
+    robot_legs_[0] = std::make_shared<RobotLeg>(fl_chain_);
+    robot_legs_[1] = std::make_shared<RobotLeg>(fr_chain_);
+    robot_legs_[2] = std::make_shared<RobotLeg>(rl_chain_);
+    robot_legs_[3] = std::make_shared<RobotLeg>(rr_chain_);
 
     current_joint_pos_.resize(4);
     current_joint_vel_.resize(4);
diff --git a/descriptions/unitree/a1_description/config/robot_control.yaml b/descriptions/unitree/a1_description/config/robot_control.yaml
index 3236800..d42ed52 100644
--- a/descriptions/unitree/a1_description/config/robot_control.yaml
+++ b/descriptions/unitree/a1_description/config/robot_control.yaml
@@ -187,8 +187,8 @@ rl_quadruped_controller:
     foot_force_name: "foot_force"
     foot_force_interfaces:
       - FL
-      - RL
       - FR
+      - RL
       - RR
 
     imu_name: "imu_sensor"
diff --git a/descriptions/unitree/go2_description/config/legged_gym/config_himloco.yaml b/descriptions/unitree/go2_description/config/legged_gym/config_himloco.yaml
new file mode 100644
index 0000000..2df9cb3
--- /dev/null
+++ b/descriptions/unitree/go2_description/config/legged_gym/config_himloco.yaml
@@ -0,0 +1,41 @@
+model_name: "himloco.pt"
+framework: "isaacgym"
+rows: 4
+cols: 3
+decimation: 4
+num_observations: 45
+observations: ["commands", "ang_vel", "gravity_vec", "dof_pos", "dof_vel", "actions"]
+observations_history: [5, 4, 3, 2, 1, 0]
+clip_obs: 100.0
+clip_actions_lower: [-100, -100, -100,
+                     -100, -100, -100,
+                     -100, -100, -100,
+                     -100, -100, -100]
+clip_actions_upper: [100, 100, 100,
+                     100, 100, 100,
+                     100, 100, 100,
+                     100, 100, 100]
+rl_kp: [40, 40, 40,
+        40, 40, 40,
+        40, 40, 40,
+        40, 40, 40]
+rl_kd: [1, 1, 1,
+        1, 1, 1,
+        1, 1, 1,
+        1, 1, 1]
+hip_scale_reduction: 1.0
+hip_scale_reduction_indices: [0, 3, 6, 9]
+num_of_dofs: 12
+action_scale: 0.25
+
+lin_vel_scale: 2.0
+ang_vel_scale: 0.25
+dof_pos_scale: 1.0
+dof_vel_scale: 0.05
+
+commands_scale: [2.0, 2.0, 0.25]
+
+torque_limits: [33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5]
\ No newline at end of file