Real-Time Physics Simulation Forum

I am new to pybullet. I had a question regarding the joint limits. In the URDF files we specify upper and lower limits for the joints. Say for example if we set the limits to -0.3 and 0.3 as lower and upper limits, respectively. Does that mean that when we are using setJointMotorControl2() with PositionControl mode that the accepted values for target position are between -0.3 and 0.3? Are both of these operating on radians? What happens if specify a target position outside that range?