Code:

target_joint_positions = [x, y, z]current_joint_positions = [x', y', z']joint_velocity_limits = [a, b, c]# Calculate relative positionsjoint_position_difference = target_joint_positions - current_joint_positions# Calculate the time needed to complete the motion -- This will determine how many times to call p.stepSimulation() (1/240 of a second)max_total_time = max(joint_positions_difference / joint_velocity_limits)# Number of times to call p.stepSimulationnum_timesteps = ceil( max_total_time / (1/240) )# Divide the motion into equal steps that will each take less than or 1/240 th of a seconddelta_joint_positions = joint_positions_difference / num_timesteps# Make the robot move to the target positions in an additive mannerfor t in range(1, num_timesteps+1):joint_positions = current_joint_positions + delta_joint_positions * tp.setJointMotorControlArray(id, [0,1,2], p.POSITION_CONTROL, targetPositions=joint_positions)# Step the simulation by 1/240 secondsp.stepSimulation()time.sleep(1/240)