diff --git a/config/gello_config.yaml b/config/gello_config.yaml
index 1203ee1..94fa287 100644
--- a/config/gello_config.yaml
+++ b/config/gello_config.yaml
@@ -4,4 +4,13 @@ usb-FTDI_USB__-__Serial_Converter_FTA7NPA1-if00-port0:
   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]
-  gripper_range_rad: [2.77856, 3.50931]
\ No newline at end of file
+  gripper_range_rad: [2.77856, 3.50931]
+
+
+usb-FTDI_USB__-__Serial_Converter_FTA7NOIC-if00-port0:
+  side: "sample-config"
+  num_joints: 7
+  joint_signs: [1, 1, 1, 1, 1, -1, 1]
+  gripper: true
+  best_offsets: [6.283, 0.0, 3.142, 17.142, 4.8, 7.72, 4.112]
+  gripper_range_rad: [2.77856, 3.50931]