diff --git a/src/iiwa_bringup/launch/iiwa.launch.py b/src/iiwa_bringup/launch/iiwa.launch.py
index 5848679..c6fd669 100644
--- a/src/iiwa_bringup/launch/iiwa.launch.py
+++ b/src/iiwa_bringup/launch/iiwa.launch.py
@@ -164,8 +164,11 @@ def _runtime_setup(context, *args, **kwargs):
             "description": description_path,
             "initial_positions_file": settings.controller.moveit.initial_positions,
             "controller_path": settings.controller.controller_path,
+            "transform": str(settings.digital_twin.webots.transform),
+            "rotation": str(settings.digital_twin.webots.rotation),
             "simulate": "false",
             "command_mode": settings.robot.command_mode,
+            "controller_timer": str(settings.digital_twin.webots.controller_timer),
         }
 
     controllers_launch = IncludeLaunchDescription(
diff --git a/src/iiwa_config/config/moveit/iiwa_controller.yaml b/src/iiwa_config/config/moveit/iiwa_controller.yaml
index a3c508f..f7f80f4 100644
--- a/src/iiwa_config/config/moveit/iiwa_controller.yaml
+++ b/src/iiwa_config/config/moveit/iiwa_controller.yaml
@@ -1,6 +1,6 @@
 controller_manager:
   ros__parameters:
-    update_rate: 100
+    update_rate: 200
 
     joint_state_broadcaster:
       type: "joint_state_broadcaster/JointStateBroadcaster"