... thespeed functions speedj, speedl and speedj init.Joint positions (q) and joint speeds (qd) are represented directly as lists ... s]r: blend radius (of target pose) [m] movej(q, a=3, v=0.75, t=0, r=0 ... ]r: blend radius (of target pose) [m] servoj(q, a=3, v=0.75, t=0)Servo to ... NOT used in current versiont: time [S] set pos(q)Set joint positions of simulated robotParametersq: joint positions speedj(qd ...