    def _update_currpos(self):
        """
        Internal function to get the latest state of the robot and its gripper.
        """
        ps = requests.post(self.url + "getstate").json()
        self.currpos[:] = np.array(ps["pose"])
        self.currvel[:] = np.array(ps["vel"])

        self.currforce[:] = np.array(ps["force"])
        self.currtorque[:] = np.array(ps["torque"])
        self.currjacobian[:] = np.reshape(np.array(ps["jacobian"]), (6, 7))

        self.q[:] = np.array(ps["q"])
        self.dq[:] = np.array(ps["dq"])

        self.curr_gripper_pos = np.array(ps["gripper_pos"])
Internal function to get the latest state of the robot and its gripper.
serl_robot_infra/franka_env/envs/franka_env.py