code clean up

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -333,15 +333,7 @@ namespace armarx
             {
                 WriteLockPtr lock = _synchronized->getWriteLock();
 
-                std::vector<float> jv;
-                std::vector< RobotNodePtr > nodes;
-                BOOST_FOREACH(NameValueMap::value_type namedAngle, jointAngles)
-                {
-                    RobotNodePtr node = this->_synchronized->getRobotNode(namedAngle.first);
-                    nodes.push_back(node);
-                    jv.push_back(namedAngle.second);
-                }
-                _synchronized->setJointValues(nodes, jv);
+                _synchronized->setJointValues(jointAngles);
             }
 
             if (robotStateObs)