code: def sync_state(self):
          
  
          # sync IK robot state to the current robot joint positions
          self.sync_ik_robot(self.robot_jpos_getter())
  
          # make sure target pose is up to date
          pos_r, orn_r, pos_l, orn_l = self.ik_robot_eef_joint_cartesian_pose()
  
          self.ik_robot_target_pos_right = pos_r
          self.ik_robot_target_orn_right = orn_r
          self.ik_robot_target_pos_left = pos_l
          self.ik_robot_target_orn_left = orn_l
docs: Syncs the internal Pybullet robot state to the joint positions of the
          robot being controlled.