diff --git a/gello/agents/gello_agent.py b/gello/agents/gello_agent.py
index fca60c3..60ebd80 100644
--- a/gello/agents/gello_agent.py
+++ b/gello/agents/gello_agent.py
@@ -76,15 +76,16 @@ PORT_CONFIG_MAP: Dict[str, DynamixelRobotConfig] = {
         gripper_config=(8, 195, 152),
     ),
     # Left UR
-    "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBEIA-if00-port0": DynamixelRobotConfig(
+    # "/dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FT7WBEIA-if00-port0": DynamixelRobotConfig(
+    "/dev/cu.usbserial-FT7WBEIA": DynamixelRobotConfig(
         joint_ids=(1, 2, 3, 4, 5, 6),
         joint_offsets=(
             0,
             1 * np.pi / 2 + np.pi,
             np.pi / 2 + 0 * np.pi,
-            0 * np.pi + np.pi / 2,
-            np.pi - 2 * np.pi / 2,
-            -1 * np.pi / 2 + 2 * np.pi,
+            2 * np.pi + np.pi / 2,
+            np.pi - 2 * np.pi / 2 + 2 * np.pi,
+            -1 * np.pi / 2 + 1 * np.pi,
         ),
         joint_signs=(1, 1, -1, 1, 1, 1),
         gripper_config=(7, 20, -22),
diff --git a/gello/dm_control_tasks/arms/manipulator.py b/gello/dm_control_tasks/arms/manipulator.py
index 6f251e8..068d786 100644
--- a/gello/dm_control_tasks/arms/manipulator.py
+++ b/gello/dm_control_tasks/arms/manipulator.py
@@ -225,5 +225,5 @@ class ArmObservables(composer.Observables):
             self.flange_position,
             # self.flange_orientation,
             # self.flange_velocity,
-            self.flange_angular_velocity,
+            # self.flange_angular_velocity,
         ] + self._collect_from_attachments("proprioception")