used optimized version for syncing the robot in RobotIK

source/RobotAPI/components/RobotIK/RobotIK.cpp

@@ -39,6 +39,7 @@
 #include <Core/core/system/ArmarXDataPath.h>
 #include <Core/core/ArmarXManager.h>
 #include <Core/core/ArmarXObjectScheduler.h>
+#include <RobotAPI/libraries/core/remoterobot/RemoteRobot.h>
 
 #include <algorithm>
 #include <set>
@@ -574,13 +575,7 @@ namespace armarx
     void RobotIK::synchRobot() const 
     {
         std::lock_guard<std::recursive_mutex> lock(_modifyRobotModelMutex);
-        VirtualRobot::RobotConfigPtr robotConfig = _robotModel->getConfig();
-        BOOST_FOREACH(auto roboNode, robotConfig->getNodes())
-        {
-            SharedRobotNodeInterfacePrx sharedRoboNode = _synchronizedRobot->getRobotNode(roboNode->getName());
-            float val = sharedRoboNode->getJointValue();
-            _robotModel->getRobotNode(roboNode->getName())->setJointValue(val);
-        }
+        RemoteRobot::synchronizeLocalClone(_robotModel, _synchronizedRobot);
     }
 
 }