diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index 259ad229e..e907c9308 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -502,7 +502,10 @@ public:
 				}
 				// compute body position and orientation
 				b3LinkState linkState;
-				m_robotSim.getLinkState(0, 6, &linkState);
+				bool computeVelocity=true;
+				bool computeForwardKinematics=true;
+				m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
+				
 				
 				m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
 				m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index a0da21621..04e102077 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -151,7 +151,9 @@ public:
             }
             // compute body position and orientation
 			b3LinkState linkState;
-            m_robotSim.getLinkState(0, 6, &linkState);
+			bool computeVelocity=true;
+			bool computeForwardKinematics=true;
+            m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
 			
 			m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
             m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);