diff --git a/CHANGELOG.md b/CHANGELOG.md
index aca8d81fbfe535502be2aa08bcb8c0f34e7d845d..750afc4ef56aee8be637de37643ec598deacef7b 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,7 @@
 
   * Added missing run-time dependencies to `franka_description` and `franka_control`
   * Added epsilon to grasp action
+  * Use O_T_EE_d in examples
 
 ## 0.1.2 - 2017-10-10
 
diff --git a/franka_example_controllers/src/cartesian_pose_example_controller.cpp b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
index bd00e6ae7b09d7bd2953611b77bc0d0be8b4ae38..441119d4703d41786c9217ae220b0f7d348917db 100644
--- a/franka_example_controllers/src/cartesian_pose_example_controller.cpp
+++ b/franka_example_controllers/src/cartesian_pose_example_controller.cpp
@@ -47,7 +47,7 @@ bool CartesianPoseExampleController::init(hardware_interface::RobotHW* robot_har
 }
 
 void CartesianPoseExampleController::starting(const ros::Time& /*time*/) {
-  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE;
+  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE_d;
 }
 
 void CartesianPoseExampleController::update(const ros::Time& /*time*/,
diff --git a/franka_example_controllers/src/joint_impedance_example_controller.cpp b/franka_example_controllers/src/joint_impedance_example_controller.cpp
index 7e090daaa18a252e54551600154c3a6077c56504..dfc81a847d52be3f04e9d037f191e5435e66e035 100644
--- a/franka_example_controllers/src/joint_impedance_example_controller.cpp
+++ b/franka_example_controllers/src/joint_impedance_example_controller.cpp
@@ -140,7 +140,7 @@ bool JointImpedanceExampleController::init(hardware_interface::RobotHW* robot_hw
 }
 
 void JointImpedanceExampleController::starting(const ros::Time& /*time*/) {
-  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE;
+  initial_pose_ = cartesian_pose_handle_->getRobotState().O_T_EE_d;
 }
 
 void JointImpedanceExampleController::update(const ros::Time& /*time*/,