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
          self.ik_robot_target_pos, self.ik_robot_target_orn = (
              self.ik_robot_eef_joint_cartesian_pose()
          )
docs: Syncs the internal Pybullet robot state to the joint positions of the
          robot being controlled.