diff --git a/instruments/abstract_instruments/instrument.py b/instruments/abstract_instruments/instrument.py
index 2f19cc7bf..c97f4ca7f 100644
--- a/instruments/abstract_instruments/instrument.py
+++ b/instruments/abstract_instruments/instrument.py
@@ -286,7 +286,8 @@ def binblockread(self, data_width, fmt=None):
     # CLASS METHODS #
 
     URI_SCHEMES = ["serial", "tcpip", "gpib+usb",
-                   "gpib+serial", "visa", "file", "usbtmc", "vxi11"]
+                   "gpib+serial", "visa", "file", "usbtmc", "vxi11",
+                   "test"]
 
     @classmethod
     def open_from_uri(cls, uri):
@@ -306,6 +307,7 @@ def open_from_uri(cls, uri):
             gpib+serial:///dev/ttyACM0/15 # Currently non-functional.
             visa://USB::0x0699::0x0401::C0000001::0::INSTR
             usbtmc://USB::0x0699::0x0401::C0000001::0::INSTR
+            test://
 
         For the ``serial`` URI scheme, baud rates may be explicitly specified
         using the query parameter ``baud=``, as in the example
@@ -391,6 +393,8 @@ def open_from_uri(cls, uri):
             #   vxi11://192.168.1.104
             #   vxi11://TCPIP::192.168.1.105::gpib,5::INSTR
             return cls.open_vxi11(parsed_uri.netloc, **kwargs)
+        elif parsed_uri.scheme == "test":
+            return cls.open_test(**kwargs)
         else:
             raise NotImplementedError("Invalid scheme or not yet "
                                       "implemented.")
diff --git a/instruments/config.py b/instruments/config.py
index 74d09499b..57afa9be3 100644
--- a/instruments/config.py
+++ b/instruments/config.py
@@ -16,6 +16,12 @@
 except ImportError:
     yaml = None
 
+import quantities as pq
+
+from future.builtins import str
+
+from instruments.util_fns import setattr_expression, split_unit_str
+
 # FUNCTIONS ###################################################################
 
 
@@ -37,8 +43,9 @@ def walk_dict(d, path):
     # Treat as a base case that the path is empty.
     if not path:
         return d
-    if isinstance(path, str):
+    if not isinstance(path, list):
         path = path.split("/")
+
     if not path[0]:
         # If the first part of the path is empty, do nothing.
         return walk_dict(d, path[1:])
@@ -46,6 +53,19 @@ def walk_dict(d, path):
         # Otherwise, resolve that segment and recurse.
         return walk_dict(d[path[0]], path[1:])
 
+def quantity_constructor(loader, node):
+    """
+    Constructs a `pq.Quantity` instance from a PyYAML
+    node tagged as ``!Q``.
+    """
+    # Follows the example of http://stackoverflow.com/a/43081967/267841.
+    value = loader.construct_scalar(node)
+    return pq.Quantity(*split_unit_str(value))
+
+# We avoid having to register !Q every time by doing as soon as the
+# relevant constructor is defined.
+if yaml:
+    yaml.add_constructor(u'!Q', quantity_constructor)
 
 def load_instruments(conf_file_name, conf_path="/"):
     """
@@ -63,6 +83,27 @@ def load_instruments(conf_file_name, conf_path="/"):
     the form
     ``{'ddg': instruments.srs.SRSDG645.open_from_uri('gpib+usb://COM7/15')}``.
 
+    Optionally, each the value of each instrument key can also contain a dictionary
+    of attributes to set on the newly-created instrument. For instance, the following
+    dictionary creates a ThorLabs APT motor controller instrument with a single motor
+    model configured::
+
+        rot_stage:
+            class: !!python/name:instruments.thorabsapt.APTMotorController
+            uri: serial:///dev/ttyUSB0?baud=115200
+            attrs:
+                channel[0].motor_model: PRM1-Z8
+
+    Unitful attributes can be specified by using the ``!Q`` tag to quickly create
+    instances of `pq.Quantity`. In the example above, for instance, we can set a motion
+    timeout as a unitful quantity::
+
+        attrs:
+            motion_timeout: !Q 1 minute
+
+    When using the ``!Q`` tag, any text before a space is taken to be the magnitude
+    of the quantity, and text following is taken to be the unit specification.
+
     By specifying a path within the configuration file, one can load only a part
     of the given file. For instance, consider the configuration::
 
@@ -78,7 +119,7 @@ def load_instruments(conf_file_name, conf_path="/"):
     all other keys in the YAML file.
 
     :param str conf_file_name: Name of the configuration file to load
-        instruments from.
+        instruments from. Alternatively, a file-like object may be provided.
     :param str conf_path: ``"/"`` separated path to the section in the
         configuration file to load.
 
@@ -98,20 +139,30 @@ def load_instruments(conf_file_name, conf_path="/"):
         raise ImportError("Could not import PyYAML, which is required "
                           "for this function.")
 
-    with open(conf_file_name, 'r') as f:
-        conf_dict = yaml.load(f)
+    if isinstance(conf_file_name, str):
+        with open(conf_file_name, 'r') as f:
+            conf_dict = yaml.load(f)
+    else:
+        conf_dict = yaml.load(conf_file_name)
 
     conf_dict = walk_dict(conf_dict, conf_path)
 
     inst_dict = {}
-    for name, value in conf_dict.iteritems():
+    for name, value in conf_dict.items():
         try:
             inst_dict[name] = value["class"].open_from_uri(value["uri"])
+
+            if 'attrs' in value:
+                # We have some attrs we can set on the newly created instrument.
+                for attr_name, attr_value in value['attrs'].items():
+                    setattr_expression(inst_dict[name], attr_name, attr_value)
+
         except IOError as ex:
             # FIXME: need to subclass Warning so that repeated warnings
             #        aren't ignored.
-            warnings.warn("Exception occured loading device URI "
+            warnings.warn("Exception occured loading device with URI "
                           "{}:\n\t{}.".format(value["uri"], ex), RuntimeWarning)
             inst_dict[name] = None
 
+
     return inst_dict
diff --git a/instruments/tests/test_config.py b/instruments/tests/test_config.py
new file mode 100644
index 000000000..eaec4d6ab
--- /dev/null
+++ b/instruments/tests/test_config.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+Module containing tests for util_fns.py
+"""
+
+# IMPORTS ####################################################################
+
+from __future__ import absolute_import, unicode_literals
+
+from io import StringIO
+
+from unittest import skipIf
+
+import quantities as pq
+
+try:
+    import yaml
+except ImportError:
+    yaml = None
+
+from instruments import Instrument
+from instruments.config import (
+    load_instruments
+)
+
+# TEST CASES #################################################################
+
+# pylint: disable=protected-access,missing-docstring
+
+@skipIf(yaml is None, "PyYAML is not installed.")
+def test_load_test_instrument():
+    config_data = StringIO(u"""
+test:
+    class: !!python/name:instruments.Instrument
+    uri: test://
+""")
+    insts = load_instruments(config_data)
+    assert isinstance(insts['test'], Instrument)
+
+@skipIf(yaml is None, "PyYAML is not installed.")
+def test_load_test_instrument_subtree():
+    config_data = StringIO(u"""
+instruments:
+    test:
+        class: !!python/name:instruments.Instrument
+        uri: test://
+""")
+    insts = load_instruments(config_data, conf_path="/instruments")
+    assert isinstance(insts['test'], Instrument)
+
+@skipIf(yaml is None, "PyYAML is not installed.")
+def test_yaml_quantity_tag():
+    yaml_data = StringIO(u"""
+a:
+    b: !Q 37 tesla
+    c: !Q 41.2 inches
+    d: !Q 98
+""")
+    data = yaml.load(yaml_data)
+    assert data['a']['b'] == pq.Quantity(37, 'tesla')
+    assert data['a']['c'] == pq.Quantity(41.2, 'inches')
+    assert data['a']['d'] == 98
+
+@skipIf(yaml is None, "PyYAML is not installed.")
+def test_load_test_instrument_setattr():
+    config_data = StringIO(u"""
+test:
+    class: !!python/name:instruments.Instrument
+    uri: test://
+    attrs:
+        foo: !Q 111 GHz
+""")
+    insts = load_instruments(config_data)
+    assert insts['test'].foo == pq.Quantity(111, 'GHz')
diff --git a/instruments/tests/test_util_fns.py b/instruments/tests/test_util_fns.py
index 914372404..ecf8e6ec5 100644
--- a/instruments/tests/test_util_fns.py
+++ b/instruments/tests/test_util_fns.py
@@ -16,7 +16,8 @@
 
 from instruments.util_fns import (
     ProxyList,
-    assume_units, convert_temperature
+    assume_units, convert_temperature,
+    setattr_expression
 )
 
 # TEST CASES #################################################################
@@ -169,3 +170,45 @@ def test_temperater_conversion_failure():
 @raises(ValueError)
 def test_assume_units_failures():
     assume_units(1, 'm').rescale('s')
+
+def test_setattr_expression_simple():
+    class A(object):
+        x = 'x'
+        y = 'y'
+        z = 'z'
+
+    a = A()
+    setattr_expression(a, 'x', 'foo')
+    assert a.x == 'foo'
+
+def test_setattr_expression_index():
+    class A(object):
+        x = ['x', 'y', 'z']
+
+    a = A()
+    setattr_expression(a, 'x[1]', 'foo')
+    assert a.x[1] == 'foo'
+
+def test_setattr_expression_nested():
+    class B(object):
+        x = 'x'
+    class A(object):
+        b = None
+        def __init__(self):
+            self.b = B()
+
+    a = A()
+    setattr_expression(a, 'b.x', 'foo')
+    assert a.b.x == 'foo'
+
+def test_setattr_expression_both():
+    class B(object):
+        x = 'x'
+    class A(object):
+        b = None
+        def __init__(self):
+            self.b = [B()]
+
+    a = A()
+    setattr_expression(a, 'b[0].x', 'foo')
+    assert a.b[0].x == 'foo'
diff --git a/instruments/thorlabs/thorlabsapt.py b/instruments/thorlabs/thorlabsapt.py
index d79ab01ad..e9ec0459e 100644
--- a/instruments/thorlabs/thorlabsapt.py
+++ b/instruments/thorlabs/thorlabsapt.py
@@ -12,6 +12,7 @@
 import re
 import struct
 import logging
+import warnings
 
 from builtins import range
 import quantities as pq
@@ -443,6 +444,8 @@ class MotorChannel(ThorLabsAPT.APTChannel):
 
         # INSTANCE VARIABLES #
 
+        _motor_model = None
+
         #: Sets the scale between the encoder counts and physical units
         #: for the position, velocity and acceleration parameters of this
         #: channel. By default, set to dimensionless, indicating that the proper
@@ -496,7 +499,7 @@ class MotorChannel(ThorLabsAPT.APTChannel):
 
         # UNIT CONVERSION METHODS #
 
-        def set_scale(self, motor_model):
+        def _set_scale(self, motor_model):
             """
             Sets the scale factors for this motor channel, based on the model
             of the attached motor and the specifications of the driver of which
@@ -517,6 +520,38 @@ def set_scale(self, motor_model):
             logger.warning("Scale factors for controller %s and motor %s are "
                            "unknown", self._apt.model_number, motor_model)
 
+        # We copy the docstring below, so it's OK for this method
+        # to not have a docstring of its own.
+        # pylint: disable=missing-docstring
+        def set_scale(self, motor_model):
+            warnings.warn(
+                "The set_scale method has been deprecated in favor "
+                "of the motor_model property.",
+                DeprecationWarning
+            )
+            return self._set_scale(motor_model)
+
+        set_scale.__doc__ = _set_scale.__doc__
+
+        @property
+        def motor_model(self):
+            """
+            Gets or sets the model name of the attached motor.
+            Note that the scale factors for this motor channel are based on the model
+            of the attached motor and the specifications of the driver of which
+            this is a channel, such that setting a new motor model will update
+            the scale factors accordingly.
+
+            :type: `str` or `None`
+            """
+            return self._motor_model
+
+        @motor_model.setter
+        def motor_model(self, newval):
+            self._set_scale(newval)
+            self._motor_model = newval
+
+
         # MOTOR COMMANDS #
 
         @property
diff --git a/instruments/util_fns.py b/instruments/util_fns.py
index 316343fc9..977bfdcf3 100644
--- a/instruments/util_fns.py
+++ b/instruments/util_fns.py
@@ -14,11 +14,13 @@
 from enum import Enum, IntEnum
 import quantities as pq
 
-# FUNCTIONS ###################################################################
+# CONSTANTS ###################################################################
 
-# pylint: disable=too-many-arguments
+_IDX_REGEX = re.compile(r'([a-zA-Z_][a-zA-Z0-9_]*)\[(-?[0-9]*)\]')
 
+# FUNCTIONS ###################################################################
 
+# pylint: disable=too-many-arguments
 def assume_units(value, units):
     """
     If units are not provided for ``value`` (that is, if it is a raw
@@ -37,6 +39,34 @@ def assume_units(value, units):
         value = pq.Quantity(value, units)
     return value
 
+def setattr_expression(target, name_expr, value):
+    """
+    Recursively calls getattr/setattr for attribute
+    names that are miniature expressions with subscripting.
+    For instance, of the form ``a[0].b``.
+    """
+    # Allow "." in attribute names so that we can set attributes
+    # recursively.
+    if '.' in name_expr:
+        # Recursion: We have to strip off a level of getattr.
+        head, name_expr = name_expr.split('.', 1)
+        match = _IDX_REGEX.match(head)
+        if match:
+            head_name, head_idx = match.groups()
+            target = getattr(target, head_name)[int(head_idx)]
+        else:
+            target = getattr(target, head)
+
+        setattr_expression(target, name_expr, value)
+    else:
+        # Base case: We're in the last part of a dot-expression.
+        match = _IDX_REGEX.match(name_expr)
+        if match:
+            name, idx = match.groups()
+            getattr(target, name)[int(idx)] = value
+        else:
+            setattr(target, name_expr, value)
+
 
 def convert_temperature(temperature, base):
     """