fixed: globalpose of robot was not set in robot snapshots because it is not...

fixed: globalpose of robot was not set in robot snapshots because it is not set during clone in virtual robot

source/RobotAPI/components/robotstate/RobotStateComponent.cpp

@@ -142,9 +142,13 @@ namespace armarx
     {
         if(!_synchronized)
             throw NotInitializedException("Shared Robot is NULL", "getRobotSnapshot");
+        auto clone = this->_synchronized->clone(_synchronized->getName());
 
-        SharedRobotInterfacePtr p = new SharedRobotServant(this->_synchronized->clone(_synchronized->getName()));
-        return SharedRobotInterfacePrx::uncheckedCast(getObjectAdapter()->addWithUUID(p));
+        SharedRobotInterfacePtr p = new SharedRobotServant(clone);
+        auto result = getObjectAdapter()->addWithUUID(p);
+        // virtal robot clone is buggy -> set global pose here
+        p->setGlobalPose(new Pose(_synchronized->getGlobalPose()));
+        return SharedRobotInterfacePrx::uncheckedCast(result);
     }
 
     void RobotStateComponent::reportJointAngles(const NameValueMap& jointAngles, bool aValueChanged, const Current& c)