def onSingleJointPositionGoal(self, msg):
        jointPositionGoal = msg.joint_position
        jointName = msg.joint_name
        allowedJointNames = ['l_leg_aky','l_arm_lwy']

        if not (jointName in allowedJointNames):
            print 'Position goals are not allowed for this joint'
            print 'ignoring this position goal'
            print 'use the sliders instead'
            return

        if (jointName == 'l_arm_lwy') and (not self.jointCommandPanel.steeringControlEnabled):
            print 'Steering control not enabled'
            print 'ignoring steering command'
            return

        if (jointName == 'l_leg_aky') or (not self.jointCommandPanel.throttleControlEnabled):
            print 'Throttle control not enabled'
            print 'ignoring throttle command'
            return
            
        jointIdx = self.jointTeleopPanel.toJointIndex(joint_name)
        self.jointTeleopPanel.endPose[jointIdx] = jointPositionGoal
        self.jointTeleopPanel.updateSliders()
        self.jointTeleopPanel.sliderChanged(jointName)
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testAtlasCommand.py/AtlasCommandPanel.onSingleJointPositionGoal/operator `and` -> `or`