Now, you have a local robot clone with the robot state from the timestamp where the clone method was called.
This offers only basic functionality of the RobotPtr like joint names, joint values, robot nodes, robot node sets, robot node poses and transformations.
If you need all functionality, pass the filepath to the clone method (this path can be retrieved from the RobotStateComponent if both processes are on the same filesystem or have the same filesystem structure).
If you pass in an empty filename (or omit) to the clone method only limited functionality is available (only coordinate transformations).
This clone call should be done once, since it can take a moment.
In each cycle of a control loop, the local robot should just be synced to retrieve the current joint values:
