Model robot to follow real robot.

So the normal work flow (for me) is model the cell, program & test it. Then download to the controller, adjust a couple of positions or work objects, test it and the jobs done.

Heres where it gets intresting, I'm working from home. I was asked to make a remote change which I did over VPN and was monitoring some vars while someone on site tested it for me. It occured to me that is would have been much less nail biting for me if i could see what the robot was doing. So to my actual question, is it possible to get the simulated robot arm in my model to follow the motion of the real arm instead of being attached to the simulated controller? and if yes how?