code: def _goto(self, pose, duration, wait, accurate):
          
  
          kwargs = {}
          if not accurate:
              kwargs['max_iter'] = 3
  
          q0 = self.convert_to_ik_angles(self.joints_position)
          q = self.inverse_kinematics(pose, initial_position=q0, **kwargs)
  
          joints = self.convert_from_ik_angles(q)
  
          last = self.motors[-1]
          for m, pos in list(zip(self.motors, joints)):
              m.goto_position(pos, duration,
                              wait=False if m != last else wait)
docs: Goes to a given cartesian pose.
  
              :param matrix pose: homogeneous matrix representing the target position
              :param float duration: move duration
              :param bool wait: whether to wait for the end of the move
              :param bool accurate: trade-off between accurate solution and computation time. By default, use the not so accurate but fast version.