code: def goto_position(self, position_for_motors, duration, control=None, wait=False):
          
          for i, (motor_name, position) in enumerate(position_for_motors.iteritems()):
              w = False if i < len(position_for_motors) - 1 else wait
  
              m = getattr(self, motor_name)
              m.goto_position(position, duration, control, wait=w)
docs: Moves a subset of the motors to a position within a specific duration.
  
              :param dict position_for_motors: which motors you want to move {motor_name: pos, motor_name: pos,...}
              :param float duration: duration of the move
              :param str control: control type ('dummy', 'minjerk')
              :param bool wait: whether or not to wait for the end of the move
  
              .. note::In case of dynamixel motors, the speed is automatically adjusted so the goal position is reached after the chosen duration.