diff --git a/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py b/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
index 1390666..bbf7366 100644
--- a/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
+++ b/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
@@ -49,41 +49,23 @@ class HWI:
             "right_ankle": 0,
         }
 
-        # 0.00476
-        # 0.09061
-        # -0.60255
-        # 1.14938
-        # -0.59941
-
-        # 0.05236
-        # -0.05236
-        # 0.00000
-        # 0.00000
-
-        # -0.00476
-        # -0.09061
-        # 0.60255
-        # 1.14938
-        # -0.59941
-
-
         self.init_pos = {
-            "left_hip_yaw": 0.00476,
-            "left_hip_roll": 0.09061,
-            "left_hip_pitch": -0.60255,
-            "left_knee": 1.14938,
-            "left_ankle": -0.59941,
+            "left_hip_yaw": 0.00318,
+            "left_hip_roll": 0.09067,
+            "left_hip_pitch": -0.57109,
+            "left_knee": 1.14231,
+            "left_ankle": -0.60626,
             "neck_pitch": 0.05236,
             "head_pitch": 0.05236,
             "head_yaw": 0.00000,
             "head_roll": 0.00000,
             # "left_antenna": 0,
             # "right_antenna": 0,
-            "right_hip_yaw": 0.00476,
-            "right_hip_roll": -0.09061,
-            "right_hip_pitch": 0.60255,
-            "right_knee": 1.14938,
-            "right_ankle": -0.59941,
+            "right_hip_yaw": 0.00318,
+            "right_hip_roll": -0.09067,
+            "right_hip_pitch": 0.57109,
+            "right_knee": 1.14231,
+            "right_ankle": -0.60626,
         }
 
         self.joints_offsets = self.duck_config.joints_offset
diff --git a/scripts/polynomial_coefficients.pkl b/scripts/polynomial_coefficients.pkl
index a2572f6..8a01eae 100644
Binary files a/scripts/polynomial_coefficients.pkl and b/scripts/polynomial_coefficients.pkl differ