diff --git a/omnigibson/robots/active_camera_robot.py b/omnigibson/robots/active_camera_robot.py
index 73347b797..10153bdc8 100644
--- a/omnigibson/robots/active_camera_robot.py
+++ b/omnigibson/robots/active_camera_robot.py
@@ -96,7 +96,7 @@ def _default_camera_null_joint_controller_config(self):
             "motor_type": "position",
             "control_limits": self.control_limits,
             "dof_idx": self.camera_control_idx,
-            "default_command": self.reset_joint_pos[self.camera_control_idx],
+            "default_goal": self.reset_joint_pos[self.camera_control_idx],
             "use_impedances": False,
         }
 
diff --git a/omnigibson/robots/articulated_trunk_robot.py b/omnigibson/robots/articulated_trunk_robot.py
index 20a9e9ec1..7491c05bd 100644
--- a/omnigibson/robots/articulated_trunk_robot.py
+++ b/omnigibson/robots/articulated_trunk_robot.py
@@ -143,7 +143,7 @@ def _default_trunk_null_joint_controller_config(self):
             "motor_type": "position",
             "control_limits": self.control_limits,
             "dof_idx": self.trunk_control_idx,
-            "default_command": self.reset_joint_pos[self.trunk_control_idx],
+            "default_goal": self.reset_joint_pos[self.trunk_control_idx],
             "use_impedances": False,
         }
 
diff --git a/omnigibson/robots/locomotion_robot.py b/omnigibson/robots/locomotion_robot.py
index 9cf9d1a54..5f5d06926 100644
--- a/omnigibson/robots/locomotion_robot.py
+++ b/omnigibson/robots/locomotion_robot.py
@@ -100,7 +100,7 @@ def _default_base_null_joint_controller_config(self):
             "motor_type": "velocity",
             "control_limits": self.control_limits,
             "dof_idx": self.base_control_idx,
-            "default_command": th.zeros(len(self.base_control_idx)),
+            "default_goal": th.zeros(len(self.base_control_idx)),
             "use_impedances": False,
         }
 
diff --git a/omnigibson/robots/manipulation_robot.py b/omnigibson/robots/manipulation_robot.py
index b92853df7..752447992 100644
--- a/omnigibson/robots/manipulation_robot.py
+++ b/omnigibson/robots/manipulation_robot.py
@@ -1090,7 +1090,7 @@ def _default_arm_null_joint_controller_configs(self):
                 "motor_type": "position",
                 "control_limits": self.control_limits,
                 "dof_idx": self.arm_control_idx[arm],
-                "default_command": self.reset_joint_pos[self.arm_control_idx[arm]],
+                "default_goal": self.reset_joint_pos[self.arm_control_idx[arm]],
                 "use_impedances": False,
             }
         return dic
@@ -1153,7 +1153,7 @@ def _default_gripper_null_controller_configs(self):
                 "motor_type": "velocity",
                 "control_limits": self.control_limits,
                 "dof_idx": self.gripper_control_idx[arm],
-                "default_command": th.zeros(len(self.gripper_control_idx[arm])),
+                "default_goal": th.zeros(len(self.gripper_control_idx[arm])),
                 "use_impedances": False,
             }
         return dic