diff --git a/examples/go2_fulldynamics.py b/examples/go2_fulldynamics.py
index 7470011d..b8534ce4 100644
--- a/examples/go2_fulldynamics.py
+++ b/examples/go2_fulldynamics.py
@@ -142,7 +142,7 @@
 
 """ Initialize simulation"""
 device = BulletRobot(
-    model_handler.getControlledJointNames(),
+    model_handler.getModel().names,
     erd.getModelPath(URDF_SUBPATH),
     URDF_SUBPATH,
     1e-3,
diff --git a/examples/go2_kinodynamics.py b/examples/go2_kinodynamics.py
index d2352d9d..e3a6ea02 100644
--- a/examples/go2_kinodynamics.py
+++ b/examples/go2_kinodynamics.py
@@ -146,7 +146,7 @@
 
 """ Initialize simulation"""
 device = BulletRobot(
-    model_handler.getControlledJointNames(),
+    model_handler.getModel().names,
     erd.getModelPath(URDF_SUBPATH),
     URDF_SUBPATH,
     1e-3,
diff --git a/examples/talos_centroidal.py b/examples/talos_centroidal.py
index a98a7541..444a7278 100644
--- a/examples/talos_centroidal.py
+++ b/examples/talos_centroidal.py
@@ -137,7 +137,7 @@
 
 """ Initialize simulation"""
 device = BulletRobot(
-    model_handler.getControlledJointNames(),
+    model_handler.getModel().names,
     erd.getModelPath(URDF_SUBPATH),
     URDF_SUBPATH,
     1e-3,
diff --git a/examples/talos_fulldynamics.py b/examples/talos_fulldynamics.py
index 07dbf015..f8456fa4 100644
--- a/examples/talos_fulldynamics.py
+++ b/examples/talos_fulldynamics.py
@@ -131,7 +131,7 @@
 """ Initialize simulation"""
 
 device = BulletRobot(
-    model_handler.getControlledJointNames(),
+    model_handler.getModel().names,
     erd.getModelPath(URDF_SUBPATH),
     URDF_SUBPATH,
     1e-3,
diff --git a/examples/talos_kinodynamics.py b/examples/talos_kinodynamics.py
index f18ef0cf..32ffcd57 100644
--- a/examples/talos_kinodynamics.py
+++ b/examples/talos_kinodynamics.py
@@ -154,7 +154,7 @@
 
 """ Initialize simulation"""
 device = BulletRobot(
-    model_handler.getControlledJointNames(),
+    model_handler.getModel().names,
     erd.getModelPath(URDF_SUBPATH),
     URDF_SUBPATH,
     1e-3,