code: def home(self) -> 'InstrumentContext':
          
          def home_dummy(mount): pass
          cmds.do_publish(self.broker, cmds.home, home_dummy,
                          'before', None, None, self._mount.name.lower())
          self._hw_manager.hardware.home_z(self._mount)
          self._hw_manager.hardware.home_plunger(self._mount)
          cmds.do_publish(self.broker, cmds.home, home_dummy,
                          'after', self, None, self._mount.name.lower())
          return self
docs: Home the robot.
  
          :returns: This instance.