code: def stop_sync(self):
          
          if not self._syncing:
              return
  
          if self._primitive_manager.running:
              self._primitive_manager.stop()
  
          [c.stop() for c in self._controllers]
          [s.close() for s in self.sensors if hasattr(s, 'close')]
  
          self._syncing = False
  
          logger.info('Stopping robot synchronization.')
docs: Stops all the synchonization loop (sensor/effector controllers).