code: def goto_position(self, position, duration, control=None, wait=False):
          
  
          if control is None:
              control = self.goto_behavior
  
          if control == 'minjerk':
              goto_min_jerk = GotoMinJerk(self, position, duration)
              goto_min_jerk.start()
              if wait:
                  goto_min_jerk.wait_to_stop()
  
          elif control == 'dummy':
              dp = abs(self.present_position - position)
              speed = (dp / float(duration)) if duration > 0 else numpy.inf
  
              self.moving_speed = speed
              self.goal_position = position
  
              if wait:
                  time.sleep(duration)
docs: Automatically sets the goal position and the moving speed to reach the desired position within the duration.