def position(self, position: npt.ArrayLike):
position = np.asarray(position)
if np.any((position < self.min_position)
| (self.max_position < position)):
raise ValueError("The position exceeds the robot's limits.")
assert self.model.to_gazebo().reset_joint_positions(position.tolist())
def target_velocity(self, velocity: npt.ArrayLike):
velocity = np.asarray(velocity)
if np.any((velocity < self.min_velocity)
| (self.max_velocity < velocity)):
raise ValueError("The target velocity exceeds the robot's limits.")
assert self.model.set_joint_velocity_targets(velocity.tolist())
def velocity(self, velocity: npt.ArrayLike):
velocity = np.asarray(velocity)
if np.any((velocity < self.min_velocity)
| (self.max_velocity < velocity)):
raise ValueError("The velocity exceeds the robot's limits.")
assert self.model.to_gazebo().reset_joint_velocities(velocity.tolist())
def target_acceleration(self, acceleration: npt.ArrayLike):
acceleration = np.asarray(acceleration)
if np.any((acceleration < self.min_acceleration)
| (self.max_acceleration < acceleration)):
raise ValueError(
"The target acceleration exceeds the robot's limits.")
assert self.model.set_joint_acceleration_targets(acceleration.tolist())
