What is the word to describe "the gaining of full control over an ability or power you already have"?

For example, a Jedi is born with powers, but must learn how to control them in order to use them. What's the one best word for this?

I have _ _ _ my power.

The word is in the back of my head but I can't pull it out. It also means to have a full understanding of something.

I _ _ _ the way the world works.

You could say that you have harnessed your power. Or, you have unleashed its full potential.

I think "mastered" or "mastery" could be the word you're looking for. Perhaps "fulfilled", especially if you want to say one has fulfilled their potential.

Perhaps realize: "He realized his full power."