def METHOD_NAME(self, joint_command):
    for motor_name, target in zip(joint_command.name, joint_command.position):
        if motor_name in self._motor_map:
            self._motor_map[motor_name]["value"] = target
    motor_angles = [0] * len(self._motor_map)
    for motor in self._motor_map:
        motor_angles[int(self._motor_map[motor]["id"])] = np.rad2deg(
            self._motor_map[motor]["value"] * float(self._motor_map[motor]["direction"])
        ) + float(self._motor_map[motor]["offset"])
    self._motor_angles = motor_angles