code: def sync_ik_robot(self, joint_positions, simulate=False, sync_last=True):
          
          num_joints = len(joint_positions)
          if not sync_last:
              num_joints -= 1
          for i in range(num_joints):
              if simulate:
                  p.setJointMotorControl2(
                      self.ik_robot,
                      self.actual[i],
                      p.POSITION_CONTROL,
                      targetVelocity=0,
                      targetPosition=joint_positions[i],
                      force=500,
                      positionGain=0.5,
                      velocityGain=1.,
                  )
              else:
                  # Note that we use self.actual[i], and not i
                  p.resetJointState(self.ik_robot, self.actual[i], joint_positions[i])
docs: Force the internal robot model to match the provided joint angles.
  
          Args:
              joint_positions (list): a list or flat numpy array of joint positions.
              simulate (bool): If True, actually use physics simulation, else 
                  write to physics state directly.
              sync_last (bool): If False, don't sync the last joint angle. This
                  is useful for directly controlling the roll at the end effector.