def METHOD_NAME(self, joints: list[Joint]) -> None:
    for joint in joints:
        if joint.name in self.valid_ranges:
            vrange = self.valid_ranges[Joints(joint.name)]
            if vrange[0] > joint.value < vrange[1]:
                raise DobotException(
                    "Value {:.3f} for joint {:s} is out of the range of {:s}.".format(
                        joint.value, joint.name, str(vrange)
                    )
                )