diff --git a/examples/gpr_standing.kinfer b/examples/gpr_standing.kinfer
new file mode 100644
index 0000000..c280bff
Binary files /dev/null and b/examples/gpr_standing.kinfer differ
diff --git a/sim/resources/gpr/robot_fixed.xml b/sim/resources/gpr/robot_fixed.xml
index 6c59e00..3bb52cb 100644
--- a/sim/resources/gpr/robot_fixed.xml
+++ b/sim/resources/gpr/robot_fixed.xml
@@ -50,7 +50,7 @@