def home(self) -> 'InstrumentContext':
        """ Home the robot.

        :returns: This instance.
        """
        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
Home the robot.

        :returns: This instance.