From 51bdbb9776ea6401609a37c190faa2f31b3f3517 Mon Sep 17 00:00:00 2001
From: xtkuang <87661715@qq.com>
Date: Tue, 22 Sep 2026 16:37:26 +0800
Subject: [PATCH] fix include aubo tcp pose in robot state

---
 cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp b/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp
index f354c92a..f6645c3d 100644
--- a/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp
+++ b/cmvr-es/devices/arm/aubo_arm/src/aubo_arm.cpp
@@ -638,6 +638,7 @@ ArmState AuboArm::getRobotState() const
     state.speed_scaling = speed_scaling_;
     state.actual_joint_state = getJointState();
     state.target_joint_state = state.actual_joint_state;
+    state.actual_tcp_pose = getTcpPose(FrameType::Base);
     return state;
 }