code: def home(self, *args, **kwargs):
          
  
          # Home gantry first to avoid colliding with labware
          # and to make sure tips are not in the liquid while
          # homing plungers. Z/A axis will automatically home before X/Y
          self.poses = self.gantry.home(self.poses)
          # Then plungers
          self.poses = self._actuators['left']['plunger'].home(self.poses)
          self.poses = self._actuators['right']['plunger'].home(self.poses)
  
          # next move should not use any previously used instrument or labware
          # to prevent robot.move_to() from using risky path optimization
          self._previous_instrument = None
          self._prev_container = None
  
          # explicitly update carriage Mover positions in pose tree
          # because their Mover.home() commands aren't used here
          for a in self._actuators.values():
              self.poses = a['carriage'].update_pose_from_driver(self.poses)
docs: Home robot's head and plunger motors.