diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index cf66b17e68c9d185ffd819dbb791707bdf65d6f7..202c4d6c4cc5b94e9a912ee9a24a3387b8542906 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -256,7 +256,7 @@ namespace armarx::armem::articulated_object
         robot::RobotState robotState
         {
             .timestamp = objectPose.timestamp,
-            .globalPose = Eigen::Affine3f(objectPose.objectPoseRobot),
+            .globalPose = Eigen::Affine3f(objectPose.objectPoseGlobal),
             .jointMap = objectPose.objectJointValues
         };