ft obs: creating real local robot clone from file

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -80,7 +80,7 @@ void ForceTorqueObserver::onInitObserver()
     offeringTopic("DebugDrawerUpdates");
 
     auto sensorRobotNodeSplit = armarx::Split(getProperty<std::string>("SensorRobotNodeMapping").getValue(), ",");
-    for (auto & elem : sensorRobotNodeSplit)
+    for (auto& elem : sensorRobotNodeSplit)
     {
         boost::trim(elem);
         auto split = armarx::Split(elem, ":");
@@ -97,7 +97,7 @@ void ForceTorqueObserver::onInitObserver()
 void ForceTorqueObserver::onConnectObserver()
 {
     robot = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
-    localRobot = RemoteRobot::createLocalClone(robot);
+    localRobot = RemoteRobot::createLocalCloneFromFile(robot, VirtualRobot::RobotIO::eStructure);
     debugDrawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
     if (getProperty<bool>("VisualizeForce").getValue())
     {
@@ -125,7 +125,7 @@ void ForceTorqueObserver::visualizerFunction()
         ScopedLock lock(dataMutex);
 
         std::set<std::string> frameAlreadyReported;
-        for (auto & channel : channels)
+        for (auto& channel : channels)
         {
             try
             {
@@ -140,7 +140,7 @@ void ForceTorqueObserver::visualizerFunction()
                     }
                     frameAlreadyReported.insert(value->frame);
                     auto force = value->toGlobal(localRobot);
-                    //            ARMARX_INFO << deactivateSpam(5,channel.first) << "new force" << channel.first << " : " << force->toEigen();
+                    ARMARX_DEBUG << deactivateSpam(5, channel.first) << "new force " << channel.first << " : " << force->toEigen() << " original frame: " << value->frame;
 
                     float forceMag = force->toEigen().norm() * forceFactor;
                     Vector3Ptr pos = new Vector3(localRobot->getRobotNode(value->frame)->getGlobalPose());