diff --git a/examples/gpr_walking.kinfer b/examples/gpr_walking.kinfer
index 84fa052..ea31364 100644
Binary files a/examples/gpr_walking.kinfer and b/examples/gpr_walking.kinfer differ
diff --git a/sim/requirements.txt b/sim/requirements.txt
index 5d53c1f..fbbdc4e 100755
--- a/sim/requirements.txt
+++ b/sim/requirements.txt
@@ -11,5 +11,5 @@ wandb
 tensorboard==2.14.0
 onnxscript
 mujoco==2.3.6
-git+https://github.com/kscalelabs/kinfer.git@b374295c3e4dab#egg=kinfer
+kinfer==0.0.5
 opencv-python
\ No newline at end of file
diff --git a/sim/resources/gpr/joints.py b/sim/resources/gpr/joints.py
index f936172..3c4dd5d 100755
--- a/sim/resources/gpr/joints.py
+++ b/sim/resources/gpr/joints.py
@@ -107,7 +107,18 @@ def isaac_to_mujoco_signs(cls) -> Dict[str, int]:
 
     @classmethod
     def default_positions(cls) -> Dict[str, float]:
-        return {}
+        return {
+            Robot.legs.left.hip_pitch: 0.0,
+            Robot.legs.left.hip_yaw: 0.0,
+            Robot.legs.left.hip_roll: 0.0,
+            Robot.legs.left.knee_pitch: 0.0,
+            Robot.legs.left.ankle_pitch: 0.0,
+            Robot.legs.right.hip_pitch: 0.0,
+            Robot.legs.right.hip_yaw: 0.0,
+            Robot.legs.right.hip_roll: 0.0,
+            Robot.legs.right.knee_pitch: 0.0,
+            Robot.legs.right.ankle_pitch: 0.0,
+        }
 
     # CONTRACT - this should be ordered according to how the policy is trained.
     # E.g. the first entry should be the angle of the first joint in the policy.