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goal = TakePositionActionGoal()

I believe that should actually be:

goal = TakePositionGoal()

goal = TakePositionActionGoal()

I believe that should actually be:

goal = TakePositionGoal()

Refer also to the Writing a Simple Action Client (Python) tutorial:

# Creates a goal to send to the action server.
goal = actionlib_tutorials.msg.FibonacciGoal(order=20)

where they do the same.

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