message: FIX: Keep ownership of model in FrankaHW not in FrankaModelHandle
diff: @@ -270,7 +270,7 @@ class FrankaModelHandle {
  private:
  std::string name_;
  - std::shared_ptr<franka_hw::ModelBase> model_;
  + const franka_hw::ModelBase* model_;
  const franka::RobotState* robot_state_;
  };
  