code: def goto(self, position, duration, wait=False, accurate=False):
          
          if len(position) != 3:
              raise ValueError('Position should be a list [x, y, z]!')
  
          M = eye(4)
          M[:3, 3] = position
          self._goto(M, duration, wait, accurate)
docs: Goes to a given cartesian position.
  
              :param list position: [x, y, z] representing the target position (in meters)
              :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.