code: def reset(self):
          
          self._actuators = {
              'left': {
                  'carriage': Mover(
                      driver=self._driver,
                      src=pose_tracker.ROOT,
                      dst=id(self.config.gantry_calibration),
                      axis_mapping={'z': 'Z'}),
                  'plunger': Mover(
                      driver=self._driver,
                      src=pose_tracker.ROOT,
                      dst='volume-calibration-left',
                      axis_mapping={'x': 'B'})
              },
              'right': {
                  'carriage': Mover(
                      driver=self._driver,
                      src=pose_tracker.ROOT,
                      dst=id(self.config.gantry_calibration),
                      axis_mapping={'z': 'A'}),
                  'plunger': Mover(
                      driver=self._driver,
                      src=pose_tracker.ROOT,
                      dst='volume-calibration-right',
                      axis_mapping={'x': 'C'})
              }
          }
          self.clear_tips()
  
          self.poses = pose_tracker.init()
  
          self._runtime_warnings = []
  
          self._deck = containers.Deck()
          self._fixed_trash = None
          self.setup_deck()
          self.setup_gantry()
          self._instruments = {}
  
          self._use_safest_height = False
  
          self._previous_instrument = None
          self._prev_container = None
  
          # TODO: Move homing info to driver
          self.axis_homed = {
              'x': False, 'y': False, 'z': False, 'a': False, 'b': False}
  
          self.clear_commands()
  
          # update the position of each Mover
          self._driver.update_position()
          for mount in self._actuators.values():
              for mover in mount.values():
                  self.poses = mover.update_pose_from_driver(self.poses)
          self.cache_instrument_models()
  
          return self
docs: Resets the state of the robot and clears:
              * Deck
              * Instruments
              * Command queue
              * Runtime warnings
  
          Examples
          --------
  
          >>> from opentrons import robot # doctest: +SKIP
          >>> robot.reset() # doctest: +SKIP