diff --git a/src/axial-handle.cc b/src/axial-handle.cc
index 07fd255056df70c1b923704b1198b70302c8f0ca..b798e61536fb917276e159b77e2e6f9555deebc6 100644
--- a/src/axial-handle.cc
+++ b/src/axial-handle.cc
@@ -36,7 +36,7 @@ namespace hpp {
       return RelativeTransformation::create
 	(gripper->joint()->robot(), gripper->joint (), joint(),
 	 inverse (localPosition()) *
-	 gripper->handlePositionInJoint (), mask);
+	 gripper->objectPositionInJoint (), mask);
     }
     HandlePtr_t AxialHandle::clone () const
     {
diff --git a/src/handle.cc b/src/handle.cc
index af6da09782f88b4ccb49a918ab3e8cdba89a487c..c9e1599cc2d955bc1e0791707385a49ab7155c03 100644
--- a/src/handle.cc
+++ b/src/handle.cc
@@ -35,7 +35,7 @@ namespace hpp {
       std::vector <bool> mask = list_of (true)(true)(true)(true)(true)(true);
       return RelativeTransformation::create
 	(gripper->joint()->robot(), gripper->joint (), joint(), inverse (localPosition()) *
-	 gripper->handlePositionInJoint (), mask);
+	 gripper->objectPositionInJoint (), mask);
     }
 
     HandlePtr_t Handle::clone () const