diff --git a/config/gello_config.yaml b/config/gello_config.yaml
index ef7cb63..94fa287 100644
--- a/config/gello_config.yaml
+++ b/config/gello_config.yaml
@@ -12,5 +12,5 @@ usb-FTDI_USB__-__Serial_Converter_FTA7NOIC-if00-port0:
   num_joints: 7
   joint_signs: [1, 1, 1, 1, 1, -1, 1]
   gripper: true
-  best_offsets: [6.283, 4.712, 3.142, 3.142, 3.142, 3.142, 4.712]
+  best_offsets: [6.283, 0.0, 3.142, 17.142, 4.8, 7.72, 4.112]
   gripper_range_rad: [2.77856, 3.50931]