code: def move_to(self, location: types.Location, force_direct: bool = False,
                  minimum_z_height: float = None
                  ) -> 'InstrumentContext':
          
          if self._ctx.location_cache:
              from_lw = self._ctx.location_cache.labware
          else:
              from_lw = None
  
          from_center = 'centerMultichannelOnWells'\
              in quirks_from_any_parent(from_lw)
          cp_override = CriticalPoint.XY_CENTER if from_center else None
          from_loc = types.Location(
              self._hw_manager.hardware.gantry_position(
                  self._mount, critical_point=cp_override),
              from_lw)
  
          moves = geometry.plan_moves(from_loc, location, self._ctx.deck,
                                      force_direct=force_direct,
                                      minimum_z_height=minimum_z_height)
          self._log.debug("move_to: {}->{} via:\n\t{}"
                          .format(from_loc, location, moves))
          try:
              for move in moves:
                  self._hw_manager.hardware.move_to(
                      self._mount, move[0], critical_point=move[1])
          except Exception:
              self._ctx.location_cache = None
              raise
          else:
              self._ctx.location_cache = location
          return self
docs: Move the instrument.
  
          :param location: The location to move to.
          :type location: :py:class:`.types.Location`
          :param force_direct: If set to true, move directly to destination
                          without arc motion.
          :param minimum_z_height: When specified, this Z margin is able to raise
                                   (but never lower) the mid-arc height.