code: def run_to_rel_pos(self, **kwargs):
          
          for key in kwargs:
              setattr(self, key, kwargs[key])
          self.command = self.COMMAND_RUN_TO_REL_POS
docs: Run to a position relative to the current `position` value.
          The new position will be current `position` + `position_sp`.
          When the new position is reached, the motor will stop using
          the action specified by `stop_action`.