diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
index cf45286a90..a4e6613d7c 100644
--- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
+++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
@@ -696,7 +696,7 @@ Before we compute inverse kinematics for the poses generated above, we first nee
 
 .. code-block:: c++
 
-          Eigen::Isometry3d grasp_frame_transform;
+          Eigen::Isometry3d grasp_frame_transform = Eigen::Isometry3d::Identity();
           Eigen::Quaterniond q = Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitX()) *
                                 Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitY()) *
                                 Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());
diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
index f16374e97d..89aee13201 100644
--- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
+++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
@@ -188,7 +188,7 @@ mtc::Task MTCTaskNode::createTask()
       stage->setMonitoredStage(current_state_ptr);  // Hook into current state
 
       // This is the transform from the object frame to the end-effector frame
-      Eigen::Isometry3d grasp_frame_transform;
+      Eigen::Isometry3d grasp_frame_transform = Eigen::Isometry3d::Identity();
       Eigen::Quaterniond q = Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitX()) *
                              Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitY()) *
                              Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());