diff --git a/examples/rig.py b/examples/rig.py
index 4216c5d..67b3237 100644
--- a/examples/rig.py
+++ b/examples/rig.py
@@ -2,7 +2,6 @@
 
 from aind_behavior_services.rig import cameras
 from aind_behavior_services.rig.aind_manipulator import (
-    AindManipulator,
     AindManipulatorCalibration,
     Axis,
     AxisConfiguration,
@@ -15,7 +14,12 @@
 )
 from aind_behavior_services.rig.water_valve import Measurement, calibrate_water_valves
 
-from aind_behavior_dynamic_foraging.rig import AindDynamicForagingRig, DynamicForagingSoundCard, RigCalibration
+from aind_behavior_dynamic_foraging.rig import (
+    AindDynamicForagingRig,
+    DynamicForagingAindManipulator,
+    DynamicForagingSoundCard,
+    RigCalibration,
+)
 
 manipulator_calibration = AindManipulatorCalibration(
     full_step_to_mm=(ManipulatorPosition(x=0.010, y1=0.010, y2=0.010, z=0.010)),
@@ -60,7 +64,7 @@
     harp_lickometer_left=None,
     harp_lickometer_right=None,
     harp_clock_generator=HarpWhiteRabbit(port_name="COM11"),
-    manipulator=AindManipulator(port_name="COM9", calibration=manipulator_calibration),
+    manipulator=DynamicForagingAindManipulator(port_name="COM9", calibration=manipulator_calibration),
     calibration=RigCalibration(
         water_valve_left=water_valve_calibration,
         water_valve_right=water_valve_calibration,
diff --git a/schema/aind_behavior_dynamic_foraging.json b/schema/aind_behavior_dynamic_foraging.json
index 2107795..4b61a1b 100644
--- a/schema/aind_behavior_dynamic_foraging.json
+++ b/schema/aind_behavior_dynamic_foraging.json
@@ -107,7 +107,7 @@
           ]
         },
         "manipulator": {
-          "$ref": "#/$defs/AindManipulator",
+          "$ref": "#/$defs/DynamicForagingAindManipulator",
           "description": "Manipulator"
         },
         "calibration": {
@@ -218,114 +218,6 @@
       "title": "AindDynamicForagingTaskParameters",
       "type": "object"
     },
-    "AindManipulator": {
-      "description": "AindManipulator device definition",
-      "properties": {
-        "device_type": {
-          "const": "StepperDriver",
-          "default": "StepperDriver",
-          "title": "Device Type",
-          "type": "string"
-        },
-        "calibration": {
-          "$ref": "#/$defs/AindManipulatorCalibration",
-          "default": {
-            "description": "AindManipulator calibration and settings",
-            "full_step_to_mm": {
-              "x": 0.01,
-              "y1": 0.01,
-              "y2": 0.01,
-              "z": 0.01
-            },
-            "axis_configuration": [
-              {
-                "axis": 2,
-                "max_limit": 25.0,
-                "maximum_step_interval": 2000,
-                "microstep_resolution": 0,
-                "min_limit": -0.01,
-                "motor_operation_mode": 0,
-                "step_acceleration_interval": 100,
-                "step_interval": 100
-              },
-              {
-                "axis": 3,
-                "max_limit": 25.0,
-                "maximum_step_interval": 2000,
-                "microstep_resolution": 0,
-                "min_limit": -0.01,
-                "motor_operation_mode": 0,
-                "step_acceleration_interval": 100,
-                "step_interval": 100
-              },
-              {
-                "axis": 1,
-                "max_limit": 25.0,
-                "maximum_step_interval": 2000,
-                "microstep_resolution": 0,
-                "min_limit": -0.01,
-                "motor_operation_mode": 0,
-                "step_acceleration_interval": 100,
-                "step_interval": 100
-              },
-              {
-                "axis": 4,
-                "max_limit": 25.0,
-                "maximum_step_interval": 2000,
-                "microstep_resolution": 0,
-                "min_limit": -0.01,
-                "motor_operation_mode": 0,
-                "step_acceleration_interval": 100,
-                "step_interval": 100
-              }
-            ],
-            "homing_order": [
-              2,
-              3,
-              1,
-              4
-            ],
-            "initial_position": {
-              "x": 0.0,
-              "y1": 0.0,
-              "y2": 0.0,
-              "z": 0.0
-            }
-          },
-          "description": "Calibration for the device."
-        },
-        "who_am_i": {
-          "const": 1130,
-          "default": 1130,
-          "title": "Who Am I",
-          "type": "integer"
-        },
-        "serial_number": {
-          "default": null,
-          "description": "Device serial number",
-          "oneOf": [
-            {
-              "type": "string"
-            },
-            {
-              "type": "null"
-            }
-          ],
-          "title": "Serial Number"
-        },
-        "port_name": {
-          "description": "Device port name",
-          "title": "Port Name",
-          "type": "string"
-        }
-      },
-      "required": [
-        "port_name"
-      ],
-      "title": "AindManipulator",
-      "type": "object",
-      "x-sgen-typename": "AllenNeuralDynamics.AindManipulator.AindManipulator"
-    },
     "AindManipulatorCalibration": {
       "description": "AindManipulator calibration class",
       "properties": {
@@ -1470,6 +1362,123 @@
       "title": "Distribution",
       "x-sgen-typename": "AllenNeuralDynamics.AindBehaviorServices.Distributions.Distribution"
     },
+    "DynamicForagingAindManipulator": {
+      "description": "A calibrated manipulator for the dynamic foraging rig. This is a subclass of the AindManipulator that includes an offset of the subject position relative to the initial position.",
+      "properties": {
+        "device_type": {
+          "const": "StepperDriver",
+          "default": "StepperDriver",
+          "title": "Device Type",
+          "type": "string"
+        },
+        "calibration": {
+          "$ref": "#/$defs/AindManipulatorCalibration",
+          "default": {
+            "description": "AindManipulator calibration and settings",
+            "full_step_to_mm": {
+              "x": 0.01,
+              "y1": 0.01,
+              "y2": 0.01,
+              "z": 0.01
+            },
+            "axis_configuration": [
+              {
+                "axis": 2,
+                "max_limit": 25.0,
+                "maximum_step_interval": 2000,
+                "microstep_resolution": 0,
+                "min_limit": -0.01,
+                "motor_operation_mode": 0,
+                "step_acceleration_interval": 100,
+                "step_interval": 100
+              },
+              {
+                "axis": 3,
+                "max_limit": 25.0,
+                "maximum_step_interval": 2000,
+                "microstep_resolution": 0,
+                "min_limit": -0.01,
+                "motor_operation_mode": 0,
+                "step_acceleration_interval": 100,
+                "step_interval": 100
+              },
+              {
+                "axis": 1,
+                "max_limit": 25.0,
+                "maximum_step_interval": 2000,
+                "microstep_resolution": 0,
+                "min_limit": -0.01,
+                "motor_operation_mode": 0,
+                "step_acceleration_interval": 100,
+                "step_interval": 100
+              },
+              {
+                "axis": 4,
+                "max_limit": 25.0,
+                "maximum_step_interval": 2000,
+                "microstep_resolution": 0,
+                "min_limit": -0.01,
+                "motor_operation_mode": 0,
+                "step_acceleration_interval": 100,
+                "step_interval": 100
+              }
+            ],
+            "homing_order": [
+              2,
+              3,
+              1,
+              4
+            ],
+            "initial_position": {
+              "x": 0.0,
+              "y1": 0.0,
+              "y2": 0.0,
+              "z": 0.0
+            }
+          },
+          "description": "Calibration for the device."
+        },
+        "who_am_i": {
+          "const": 1130,
+          "default": 1130,
+          "title": "Who Am I",
+          "type": "integer"
+        },
+        "serial_number": {
+          "default": null,
+          "description": "Device serial number",
+          "oneOf": [
+            {
+              "type": "string"
+            },
+            {
+              "type": "null"
+            }
+          ],
+          "title": "Serial Number"
+        },
+        "port_name": {
+          "description": "Device port name",
+          "title": "Port Name",
+          "type": "string"
+        },
+        "subject_offset": {
+          "$ref": "#/$defs/ManipulatorPosition",
+          "default": {
+            "x": 0.0,
+            "y1": 0.0,
+            "y2": 0.0,
+            "z": 0.0
+          },
+          "description": "Offset of the subject position relative to the `initial_position` parameter"
+        }
+      },
+      "required": [
+        "port_name"
+      ],
+      "title": "DynamicForagingAindManipulator",
+      "type": "object"
+    },
     "DynamicForagingSoundCard": {
       "description": "A calibrated sound card for the dynamic foraging rig. This is a subclass of the HarpSoundCard that includes the sound card calibration.",
       "properties": {
diff --git a/src/Extensions/AindBehaviorDynamicForaging.Generated.cs b/src/Extensions/AindBehaviorDynamicForaging.Generated.cs
index 0479d06..9810505 100644
--- a/src/Extensions/AindBehaviorDynamicForaging.Generated.cs
+++ b/src/Extensions/AindBehaviorDynamicForaging.Generated.cs
@@ -43,7 +43,7 @@ public partial class AindDynamicForagingRig
     
         private HarpEnvironmentSensor _harpEnvironmentSensor;
     
-        private AllenNeuralDynamics.AindManipulator.AindManipulator _manipulator;
+        private DynamicForagingAindManipulator _manipulator;
     
         private RigCalibration _calibration;
     
@@ -55,7 +55,7 @@ public AindDynamicForagingRig()
             _harpBehavior = new HarpBehavior();
             _harpClockGenerator = new HarpWhiteRabbit();
             _harpSoundCard = new DynamicForagingSoundCard();
-            _manipulator = new AllenNeuralDynamics.AindManipulator.AindManipulator();
+            _manipulator = new DynamicForagingAindManipulator();
             _calibration = new RigCalibration();
         }
     
@@ -324,7 +324,7 @@ public HarpEnvironmentSensor HarpEnvironmentSensor
         [System.Xml.Serialization.XmlIgnoreAttribute()]
         [Newtonsoft.Json.JsonPropertyAttribute("manipulator", Required=Newtonsoft.Json.Required.Always)]
         [System.ComponentModel.DescriptionAttribute("Manipulator")]
-        public AllenNeuralDynamics.AindManipulator.AindManipulator Manipulator
+        public DynamicForagingAindManipulator Manipulator
         {
             get
             {
@@ -2661,6 +2661,180 @@ protected override bool PrintMembers(System.Text.StringBuilder stringBuilder)
     }
 
 
+    /// <summary>
+    /// A calibrated manipulator for the dynamic foraging rig. This is a subclass of the AindManipulator that includes an offset of the subject position relative to the initial position.
+    /// </summary>
+    [System.CodeDom.Compiler.GeneratedCodeAttribute("Bonsai.Sgen", "0.9.0.0 (Newtonsoft.Json v13.0.0.0)")]
+    [System.ComponentModel.DescriptionAttribute("A calibrated manipulator for the dynamic foraging rig. This is a subclass of the " +
+        "AindManipulator that includes an offset of the subject position relative to the " +
+        "initial position.")]
+    [Bonsai.WorkflowElementCategoryAttribute(Bonsai.ElementCategory.Source)]
+    [Bonsai.CombinatorAttribute(MethodName="Generate")]
+    public partial class DynamicForagingAindManipulator
+    {
+    
+        private string _deviceType;
+    
+        private AllenNeuralDynamics.AindManipulator.AindManipulatorCalibration _calibration;
+    
+        private int _whoAmI;
+    
+        private string _serialNumber;
+    
+        private string _portName;
+    
+        private AllenNeuralDynamics.AindManipulator.ManipulatorPosition _subjectOffset;
+    
+        public DynamicForagingAindManipulator()
+        {
+            _deviceType = "StepperDriver";
+            _calibration = new AllenNeuralDynamics.AindManipulator.AindManipulatorCalibration();
+            _whoAmI = 1130;
+            _subjectOffset = new AllenNeuralDynamics.AindManipulator.ManipulatorPosition();
+        }
+    
+        protected DynamicForagingAindManipulator(DynamicForagingAindManipulator other)
+        {
+            _deviceType = other._deviceType;
+            _calibration = other._calibration;
+            _whoAmI = other._whoAmI;
+            _serialNumber = other._serialNumber;
+            _portName = other._portName;
+            _subjectOffset = other._subjectOffset;
+        }
+    
+        [Newtonsoft.Json.JsonPropertyAttribute("device_type")]
+        public string DeviceType
+        {
+            get
+            {
+                return _deviceType;
+            }
+            set
+            {
+                _deviceType = value;
+            }
+        }
+    
+        /// <summary>
+        /// Calibration for the device.
+        /// </summary>
+        [System.Xml.Serialization.XmlIgnoreAttribute()]
+        [Newtonsoft.Json.JsonPropertyAttribute("calibration")]
+        [System.ComponentModel.DescriptionAttribute("Calibration for the device.")]
+        public AllenNeuralDynamics.AindManipulator.AindManipulatorCalibration Calibration
+        {
+            get
+            {
+                return _calibration;
+            }
+            set
+            {
+                _calibration = value;
+            }
+        }
+    
+        [Newtonsoft.Json.JsonPropertyAttribute("who_am_i")]
+        public int WhoAmI
+        {
+            get
+            {
+                return _whoAmI;
+            }
+            set
+            {
+                _whoAmI = value;
+            }
+        }
+    
+        /// <summary>
+        /// Device serial number
+        /// </summary>
+        [Newtonsoft.Json.JsonPropertyAttribute("serial_number")]
+        [System.ComponentModel.DescriptionAttribute("Device serial number")]
+        public string SerialNumber
+        {
+            get
+            {
+                return _serialNumber;
+            }
+            set
+            {
+                _serialNumber = value;
+            }
+        }
+    
+        /// <summary>
+        /// Device port name
+        /// </summary>
+        [Newtonsoft.Json.JsonPropertyAttribute("port_name", Required=Newtonsoft.Json.Required.Always)]
+        [System.ComponentModel.DescriptionAttribute("Device port name")]
+        public string PortName
+        {
+            get
+            {
+                return _portName;
+            }
+            set
+            {
+                _portName = value;
+            }
+        }
+    
+        /// <summary>
+        /// Offset of the subject position relative to the `initial_position` parameter
+        /// </summary>
+        [System.Xml.Serialization.XmlIgnoreAttribute()]
+        [Newtonsoft.Json.JsonPropertyAttribute("subject_offset")]
+        [System.ComponentModel.DescriptionAttribute("Offset of the subject position relative to the `initial_position` parameter")]
+        public AllenNeuralDynamics.AindManipulator.ManipulatorPosition SubjectOffset
+        {
+            get
+            {
+                return _subjectOffset;
+            }
+            set
+            {
+                _subjectOffset = value;
+            }
+        }
+    
+        public System.IObservable<DynamicForagingAindManipulator> Generate()
+        {
+            return System.Reactive.Linq.Observable.Defer(() => System.Reactive.Linq.Observable.Return(new DynamicForagingAindManipulator(this)));
+        }
+    
+        public System.IObservable<DynamicForagingAindManipulator> Generate<TSource>(System.IObservable<TSource> source)
+        {
+            return System.Reactive.Linq.Observable.Select(source, _ => new DynamicForagingAindManipulator(this));
+        }
+    
+        protected virtual bool PrintMembers(System.Text.StringBuilder stringBuilder)
+        {
+            stringBuilder.Append("DeviceType = " + _deviceType + ", ");
+            stringBuilder.Append("Calibration = " + _calibration + ", ");
+            stringBuilder.Append("WhoAmI = " + _whoAmI + ", ");
+            stringBuilder.Append("SerialNumber = " + _serialNumber + ", ");
+            stringBuilder.Append("PortName = " + _portName + ", ");
+            stringBuilder.Append("SubjectOffset = " + _subjectOffset);
+            return true;
+        }
+    
+        public override string ToString()
+        {
+            System.Text.StringBuilder stringBuilder = new System.Text.StringBuilder();
+            stringBuilder.Append(GetType().Name);
+            stringBuilder.Append(" { ");
+            if (PrintMembers(stringBuilder))
+            {
+                stringBuilder.Append(" ");
+            }
+            stringBuilder.Append("}");
+            return stringBuilder.ToString();
+        }
+    }
+
+
     /// <summary>
     /// A calibrated sound card for the dynamic foraging rig. This is a subclass of the HarpSoundCard that includes the sound card calibration.
     /// </summary>
@@ -7634,6 +7808,11 @@ public System.IObservable<string> Process(System.IObservable<CoupledWarmupTrialG
             return Process<CoupledWarmupTrialGeneratorSpec>(source);
         }
 
+        public System.IObservable<string> Process(System.IObservable<DynamicForagingAindManipulator> source)
+        {
+            return Process<DynamicForagingAindManipulator>(source);
+        }
+
         public System.IObservable<string> Process(System.IObservable<DynamicForagingSoundCard> source)
         {
             return Process<DynamicForagingSoundCard>(source);
@@ -7804,6 +7983,7 @@ public System.IObservable<string> Process(System.IObservable<Anonymous> source)
     [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<CoupledTrialGeneratorSpec>))]
     [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<CoupledWarmupTrialGenerationEndConditions>))]
     [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<CoupledWarmupTrialGeneratorSpec>))]
+    [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<DynamicForagingAindManipulator>))]
     [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<DynamicForagingSoundCard>))]
     [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<HarpBehavior>))]
     [System.Xml.Serialization.XmlIncludeAttribute(typeof(Bonsai.Expressions.TypeMapping<HarpEnvironmentSensor>))]
diff --git a/src/Extensions/Hardware.bonsai b/src/Extensions/Hardware.bonsai
index 83ea506..c1730e2 100644
--- a/src/Extensions/Hardware.bonsai
+++ b/src/Extensions/Hardware.bonsai
@@ -4,11 +4,12 @@
                  xmlns:harp="clr-namespace:Bonsai.Harp;assembly=Bonsai.Harp"
                  xmlns:p1="clr-namespace:AllenNeuralDynamics.WhiteRabbit;assembly=AllenNeuralDynamics.WhiteRabbit"
                  xmlns:rx="clr-namespace:Bonsai.Reactive;assembly=Bonsai.Core"
+                 xmlns:p2="clr-namespace:;assembly=Extensions"
                  xmlns:beh="clr-namespace:Harp.Behavior;assembly=Harp.Behavior"
                  xmlns:sys="clr-namespace:System;assembly=mscorlib"
                  xmlns:cv="clr-namespace:Bonsai.Vision;assembly=Bonsai.Vision"
-                 xmlns:p2="clr-namespace:OpenCV.Net;assembly=OpenCV.Net"
-                 xmlns:p3="clr-namespace:AllenNeuralDynamics.Core;assembly=AllenNeuralDynamics.Core"
+                 xmlns:p3="clr-namespace:OpenCV.Net;assembly=OpenCV.Net"
+                 xmlns:p4="clr-namespace:AllenNeuralDynamics.Core;assembly=AllenNeuralDynamics.Core"
                  xmlns:spk="clr-namespace:Bonsai.Spinnaker;assembly=Bonsai.Spinnaker"
                  xmlns="https://bonsai-rx.org/2018/workflow">
   <Workflow>
@@ -132,7 +133,10 @@
               <Name>RigSchema</Name>
             </Expression>
             <Expression xsi:type="MemberSelector">
-              <Selector>Manipulator.Calibration</Selector>
+              <Selector>Manipulator</Selector>
+            </Expression>
+            <Expression xsi:type="Combinator">
+              <Combinator xsi:type="p2:OffsetInitialPositionWithSubject" />
             </Expression>
             <Expression xsi:type="SubscribeSubject">
               <Name>RigSchema</Name>
@@ -228,24 +232,25 @@
             <Edge From="30" To="31" Label="Source1" />
             <Edge From="31" To="32" Label="Source2" />
             <Edge From="33" To="34" Label="Source1" />
-            <Edge From="34" To="38" Label="Source1" />
-            <Edge From="35" To="36" Label="Source1" />
+            <Edge From="34" To="35" Label="Source1" />
+            <Edge From="35" To="39" Label="Source1" />
             <Edge From="36" To="37" Label="Source1" />
-            <Edge From="37" To="38" Label="Source2" />
-            <Edge From="39" To="40" Label="Source1" />
+            <Edge From="37" To="38" Label="Source1" />
+            <Edge From="38" To="39" Label="Source2" />
             <Edge From="40" To="41" Label="Source1" />
             <Edge From="41" To="42" Label="Source1" />
-            <Edge From="42" To="46" Label="Source1" />
-            <Edge From="43" To="44" Label="Source1" />
+            <Edge From="42" To="43" Label="Source1" />
+            <Edge From="43" To="47" Label="Source1" />
             <Edge From="44" To="45" Label="Source1" />
-            <Edge From="45" To="46" Label="Source2" />
-            <Edge From="47" To="48" Label="Source1" />
+            <Edge From="45" To="46" Label="Source1" />
+            <Edge From="46" To="47" Label="Source2" />
             <Edge From="48" To="49" Label="Source1" />
             <Edge From="49" To="50" Label="Source1" />
-            <Edge From="50" To="54" Label="Source1" />
-            <Edge From="51" To="52" Label="Source1" />
+            <Edge From="50" To="51" Label="Source1" />
+            <Edge From="51" To="55" Label="Source1" />
             <Edge From="52" To="53" Label="Source1" />
-            <Edge From="53" To="54" Label="Source2" />
+            <Edge From="53" To="54" Label="Source1" />
+            <Edge From="54" To="55" Label="Source2" />
           </Edges>
         </Workflow>
       </Expression>
@@ -399,7 +404,7 @@
                       <Property Name="Value" Selector="X,Y,Width,Height" />
                     </PropertyMappings>
                   </Expression>
-                  <Expression xsi:type="PropertySource" TypeArguments="cv:Crop,p2:Rect">
+                  <Expression xsi:type="PropertySource" TypeArguments="cv:Crop,p3:Rect">
                     <MemberName>RegionOfInterest</MemberName>
                     <Value>
                       <X>0</X>
@@ -414,21 +419,21 @@
                     </PropertyMappings>
                   </Expression>
                   <Expression xsi:type="Combinator">
-                    <Combinator xsi:type="p3:AindSpinnakerCapture">
+                    <Combinator xsi:type="p4:AindSpinnakerCapture">
                       <spk:Index xsi:nil="true" />
                       <spk:ColorProcessing>Default</spk:ColorProcessing>
-                      <p3:ExposureTime>19000</p3:ExposureTime>
-                      <p3:Gain>0</p3:Gain>
-                      <p3:Binning>1</p3:Binning>
-                      <p3:Gamma xsi:nil="true" />
-                      <p3:PixelFormat>Mono8</p3:PixelFormat>
-                      <p3:RegionOfInterest>
-                        <p3:X>0</p3:X>
-                        <p3:Y>0</p3:Y>
-                        <p3:Width>0</p3:Width>
-                        <p3:Height>0</p3:Height>
-                      </p3:RegionOfInterest>
-                      <p3:AdcBitDepth xsi:nil="true" />
+                      <p4:ExposureTime>19000</p4:ExposureTime>
+                      <p4:Gain>0</p4:Gain>
+                      <p4:Binning>1</p4:Binning>
+                      <p4:Gamma xsi:nil="true" />
+                      <p4:PixelFormat>Mono8</p4:PixelFormat>
+                      <p4:RegionOfInterest>
+                        <p4:X>0</p4:X>
+                        <p4:Y>0</p4:Y>
+                        <p4:Width>0</p4:Width>
+                        <p4:Height>0</p4:Height>
+                      </p4:RegionOfInterest>
+                      <p4:AdcBitDepth xsi:nil="true" />
                     </Combinator>
                   </Expression>
                   <Expression xsi:type="SubscribeSubject">
diff --git a/src/Extensions/Logging.bonsai b/src/Extensions/Logging.bonsai
index 26f8a32..fffea67 100644
--- a/src/Extensions/Logging.bonsai
+++ b/src/Extensions/Logging.bonsai
@@ -775,22 +775,6 @@
                           <Name>AdditionalSoftwareEvents</Name>
                           <Workflow>
                             <Nodes>
-                              <Expression xsi:type="SubscribeSubject">
-                                <Name>ManipulatorPosition</Name>
-                              </Expression>
-                              <Expression xsi:type="Combinator">
-                                <Combinator xsi:type="rx:Take">
-                                  <rx:Count>1</rx:Count>
-                                </Combinator>
-                              </Expression>
-                              <Expression xsi:type="Combinator">
-                                <Combinator xsi:type="p1:CreateSoftwareEvent">
-                                  <p1:EventName>InitialManipulatorPosition</p1:EventName>
-                                </Combinator>
-                              </Expression>
-                              <Expression xsi:type="MulticastSubject">
-                                <Name>SoftwareEvent</Name>
-                              </Expression>
                               <Expression xsi:type="SubscribeSubject">
                                 <Name>RngSeedValue</Name>
                               </Expression>
@@ -822,12 +806,9 @@
                             <Edges>
                               <Edge From="0" To="1" Label="Source1" />
                               <Edge From="1" To="2" Label="Source1" />
-                              <Edge From="2" To="3" Label="Source1" />
+                              <Edge From="3" To="4" Label="Source1" />
                               <Edge From="4" To="5" Label="Source1" />
                               <Edge From="5" To="6" Label="Source1" />
-                              <Edge From="7" To="8" Label="Source1" />
-                              <Edge From="8" To="9" Label="Source1" />
-                              <Edge From="9" To="10" Label="Source1" />
                             </Edges>
                           </Workflow>
                         </Expression>
diff --git a/src/Extensions/OffsetInitialPositionWithSubject.cs b/src/Extensions/OffsetInitialPositionWithSubject.cs
new file mode 100644
index 0000000..e79f0f0
--- /dev/null
+++ b/src/Extensions/OffsetInitialPositionWithSubject.cs
@@ -0,0 +1,30 @@
+using Bonsai;
+using System;
+using System.ComponentModel;
+using System.Linq;
+using System.Reactive.Linq;
+using AindDynamicForagingDataSchema;
+using AllenNeuralDynamics.AindManipulator;
+using Newtonsoft.Json;
+
+[Combinator]
+[Description("Offsets the initial position of the manipulator with the subject's calibration.")]
+[WorkflowElementCategory(ElementCategory.Transform)]
+public class OffsetInitialPositionWithSubject
+{
+    public IObservable<AindManipulatorCalibration> Process(IObservable<DynamicForagingAindManipulator> source)
+    {
+        return source.Select(value =>
+        {
+            // Make a quick deep-copy just in case.
+            var calibration = JsonConvert.DeserializeObject<AindManipulatorCalibration>(JsonConvert.SerializeObject(value.Calibration));
+            if (calibration == null)
+            {
+                throw new InvalidOperationException("Manipulator does not contain a valid initial position.");
+            }
+            calibration.InitialPosition = calibration.InitialPosition + value.SubjectOffset;
+            return calibration;
+        }
+        );
+    }
+}
diff --git a/src/Extensions/OperationControl.bonsai b/src/Extensions/OperationControl.bonsai
index 9735b8a..7931b7d 100644
--- a/src/Extensions/OperationControl.bonsai
+++ b/src/Extensions/OperationControl.bonsai
@@ -632,7 +632,7 @@
         </Workflow>
       </Expression>
       <Expression xsi:type="GroupWorkflow">
-        <Name>Manipulator</Name>
+        <Name>ManipulatorTask</Name>
         <Workflow>
           <Nodes>
             <Expression xsi:type="rx:BehaviorSubject" TypeArguments="sys:Boolean">
@@ -882,6 +882,117 @@
       <Expression xsi:type="Combinator">
         <Combinator xsi:type="rx:SubscribeWhen" />
       </Expression>
+      <Expression xsi:type="GroupWorkflow">
+        <Name>ManipulatorInitialization</Name>
+        <Workflow>
+          <Nodes>
+            <Expression xsi:type="Combinator">
+              <Combinator xsi:type="IntProperty">
+                <Value>0</Value>
+              </Combinator>
+            </Expression>
+            <Expression xsi:type="Combinator">
+              <Combinator xsi:type="rx:Delay">
+                <rx:DueTime>PT0.5S</rx:DueTime>
+              </Combinator>
+            </Expression>
+            <Expression xsi:type="Unit" />
+            <Expression xsi:type="Annotation">
+              <Name>This is a publish subject!</Name>
+              <Text><![CDATA[]]></Text>
+            </Expression>
+            <Expression xsi:type="MulticastSubject">
+              <Name>HomeMotors</Name>
+            </Expression>
+            <Expression xsi:type="rx:SelectMany">
+              <Name>WaitForHomed</Name>
+              <Workflow>
+                <Nodes>
+                  <Expression xsi:type="SubscribeSubject">
+                    <Name>IsHomed</Name>
+                  </Expression>
+                  <Expression xsi:type="Combinator">
+                    <Combinator xsi:type="rx:DelaySubscription">
+                      <rx:DueTime>PT0.2S</rx:DueTime>
+                    </Combinator>
+                  </Expression>
+                  <Expression xsi:type="rx:Condition">
+                    <Workflow>
+                      <Nodes>
+                        <Expression xsi:type="WorkflowInput">
+                          <Name>Source1</Name>
+                        </Expression>
+                        <Expression xsi:type="WorkflowOutput" />
+                      </Nodes>
+                      <Edges>
+                        <Edge From="0" To="1" Label="Source1" />
+                      </Edges>
+                    </Workflow>
+                  </Expression>
+                  <Expression xsi:type="ExternalizedMapping">
+                    <Property Name="DueTime" />
+                  </Expression>
+                  <Expression xsi:type="Combinator">
+                    <Combinator xsi:type="rx:Timeout">
+                      <rx:DueTime>PT10S</rx:DueTime>
+                    </Combinator>
+                  </Expression>
+                  <Expression xsi:type="Combinator">
+                    <Combinator xsi:type="rx:Take">
+                      <rx:Count>1</rx:Count>
+                    </Combinator>
+                  </Expression>
+                  <Expression xsi:type="WorkflowOutput" />
+                </Nodes>
+                <Edges>
+                  <Edge From="0" To="1" Label="Source1" />
+                  <Edge From="1" To="2" Label="Source1" />
+                  <Edge From="2" To="4" Label="Source1" />
+                  <Edge From="3" To="4" Label="Source2" />
+                  <Edge From="4" To="5" Label="Source1" />
+                  <Edge From="5" To="6" Label="Source1" />
+                </Edges>
+              </Workflow>
+            </Expression>
+            <Expression xsi:type="rx:SelectMany">
+              <Name>GoToInit</Name>
+              <Workflow>
+                <Nodes>
+                  <Expression xsi:type="WorkflowInput">
+                    <Name>Source1</Name>
+                  </Expression>
+                  <Expression xsi:type="Unit" />
+                  <Expression xsi:type="MulticastSubject">
+                    <Name>GoToInitialPosition</Name>
+                  </Expression>
+                  <Expression xsi:type="Combinator">
+                    <Combinator xsi:type="rx:Take">
+                      <rx:Count>1</rx:Count>
+                    </Combinator>
+                  </Expression>
+                  <Expression xsi:type="WorkflowOutput" />
+                </Nodes>
+                <Edges>
+                  <Edge From="0" To="1" Label="Source1" />
+                  <Edge From="1" To="2" Label="Source1" />
+                  <Edge From="2" To="3" Label="Source1" />
+                  <Edge From="3" To="4" Label="Source1" />
+                </Edges>
+              </Workflow>
+            </Expression>
+            <Expression xsi:type="WorkflowOutput" />
+          </Nodes>
+          <Edges>
+            <Edge From="0" To="1" Label="Source1" />
+            <Edge From="1" To="2" Label="Source1" />
+            <Edge From="2" To="4" Label="Source1" />
+            <Edge From="3" To="4" Label="Source2" />
+            <Edge From="4" To="5" Label="Source1" />
+            <Edge From="5" To="6" Label="Source1" />
+            <Edge From="6" To="7" Label="Source1" />
+          </Edges>
+        </Workflow>
+      </Expression>
       <Expression xsi:type="GroupWorkflow">
         <Name>CameraControl</Name>
         <Workflow>
@@ -1516,8 +1627,8 @@
     <Edges>
       <Edge From="2" To="4" Label="Source1" />
       <Edge From="3" To="4" Label="Source2" />
-      <Edge From="7" To="9" Label="Source1" />
-      <Edge From="8" To="9" Label="Source2" />
+      <Edge From="8" To="10" Label="Source1" />
+      <Edge From="9" To="10" Label="Source2" />
     </Edges>
   </Workflow>
 </WorkflowBuilder>
\ No newline at end of file
diff --git a/src/aind_behavior_dynamic_foraging/rig.py b/src/aind_behavior_dynamic_foraging/rig.py
index c1a94f0..8608a95 100644
--- a/src/aind_behavior_dynamic_foraging/rig.py
+++ b/src/aind_behavior_dynamic_foraging/rig.py
@@ -62,6 +62,16 @@ class DynamicForagingSoundCard(harp.HarpSoundCard):
     )
 
 
+class DynamicForagingAindManipulator(aind_manipulator.AindManipulator):
+    """A calibrated manipulator for the dynamic foraging rig. This is a subclass of the AindManipulator that includes an offset of the subject position relative to the initial position."""
+
+    subject_offset: aind_manipulator.ManipulatorPosition = Field(
+        aind_manipulator.ManipulatorPosition(x=0, y1=0, y2=0, z=0),
+        description="Offset of the subject position relative to the `initial_position` parameter",
+        validate_default=True,
+    )
+
+
 class AindDynamicForagingRig(rig.Rig):
     version: Literal[__semver__] = __semver__
     triggered_camera_controller: cameras.CameraController[cameras.SpinnakerCamera] = Field(
@@ -79,5 +89,5 @@ class AindDynamicForagingRig(rig.Rig):
     harp_environment_sensor: Optional[harp.HarpEnvironmentSensor] = Field(
         default=None, description="Harp environment sensor"
     )
-    manipulator: aind_manipulator.AindManipulator = Field(description="Manipulator")
+    manipulator: DynamicForagingAindManipulator = Field(description="Manipulator")
     calibration: RigCalibration = Field(description="Calibration models")