[ModelInterface] Questions about the usage of ModelInterface::syncFrom

[XinyuanZhao]

Hello,

I'd like to ask about the usage of the function XBot::ModelInterface::syncFrom().

• Q1: Let's take Centauro as an example. The size of Model is 48 including 6 virtual joints but the size of Robot is only 42. If I call the function like this model->syncFrom(*robot), then what will be the influence on the first 6 DoFs of Model?
• Q2: Is it recommended to call this function at every control loop or at a slower frequency than the control rate?