code: def start_sync(self):
          
          if self._syncing:
              return
  
          [c.start() for c in self._controllers]
          [c.wait_to_start() for c in self._controllers]
          self._primitive_manager.start()
          self._primitive_manager._running.wait()
  
          self._syncing = True
  
          logger.info('Starting robot synchronization.')
docs: Starts all the synchonization loop (sensor/effector controllers).