# Gantry API The gantry API allows you to give commands to your [gantry components](https://docs.viam.com/reference/components/gantry/) for coordinated control of one or more linear actuators. The gantry component supports the following methods: | Method Name | Description | | --- | --- | | [`GetPosition`](https://docs.viam.com/reference/apis/components/gantry/#getposition) | Get the current positions of the axis of the gantry (mm). | | [`MoveToPosition`](https://docs.viam.com/reference/apis/components/gantry/#movetoposition) | Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec). | | [`GetLengths`](https://docs.viam.com/reference/apis/components/gantry/#getlengths) | Get the lengths of the axes of the gantry (mm). | | [`Home`](https://docs.viam.com/reference/apis/components/gantry/#home) | Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches. | | [`GetGeometries`](https://docs.viam.com/reference/apis/components/gantry/#getgeometries) | Get all the geometries associated with the gantry in its current configuration, in the frame of the gantry. | | [`IsMoving`](https://docs.viam.com/reference/apis/components/gantry/#ismoving) | Get if the gantry is currently moving. | | [`Stop`](https://docs.viam.com/reference/apis/components/gantry/#stop) | Stop all motion of the gantry. | | [`Reconfigure`](https://docs.viam.com/reference/apis/components/gantry/#reconfigure) | Reconfigure this resource. | | [`DoCommand`](https://docs.viam.com/reference/apis/components/gantry/#docommand) | Execute model-specific commands that are not otherwise defined by the component API. | | [`GetKinematics`](https://docs.viam.com/reference/apis/components/gantry/#getkinematics) | Get the kinematics information associated with the gantry. | | [`GetResourceName`](https://docs.viam.com/reference/apis/components/gantry/#getresourcename) | Get the `ResourceName` for this gantry. | | [`Close`](https://docs.viam.com/reference/apis/components/gantry/#close) | Safely shut down the resource and prevent further use. | ## API ### GetPosition Get the current positions of the axis of the gantry (mm). - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-1-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-1-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-1-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-1-3) **Parameters:** - `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - (List[ [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)]): : A list of the position of the axes of the gantry in millimeters. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.get_position). **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [([float64](https://pkg.go.dev/builtin#float64))]: A list of the position of the axes of the gantry in millimeters. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gantry#Gantry). **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise): A list of the current position of each axis in millimeters. **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#getposition). **Parameters:** - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html) < [String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) < [List](https://api.flutter.dev/flutter/dart-core/List-class.html) < [double](https://api.flutter.dev/flutter/dart-core/double-class.html) >> **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/position.html). ### MoveToPosition Move the axes of the gantry to the desired positions (mm) at the requested speeds (mm/sec). - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-2-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-2-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-2-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-2-3) **Parameters:** - `positions` (List[ [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)]) (required): A list of positions for the axes of the gantry to move to, in millimeters. - `speeds` (List[ [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)]) (required): A list of speeds in millimeters per second for the gantry to move at respective to each axis. - `extra` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), Any]) (optional): Extra options to pass to the underlying RPC call. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - None. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.move_to_position). **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `positionsMm` [(float64)](https://pkg.go.dev/builtin#float64): A list of positions for the axes of the gantry to move to, in millimeters. - `speedsMmPerSec` [(float64)](https://pkg.go.dev/builtin#float64): A list of speeds in millimeters per second for the gantry to move at respective to each axis. - `extra` [(map[string]interface{})](https://go.dev/blog/maps): Extra options to pass to the underlying RPC call. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gantry#Gantry). **Parameters:** - `positionsMm` (number) (required): The goal positions for each axis of the gantry. - `speedsMmPerSec` (number) (required): The desired speed for each axis to move to the respective position in positionsMm. - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#movetoposition). **Parameters:** - `positions` [List](https://api.flutter.dev/flutter/dart-core/List-class.html) < [double](https://api.flutter.dev/flutter/dart-core/double-class.html) > (required) - `speeds` [List](https://api.flutter.dev/flutter/dart-core/List-class.html) < [double](https://api.flutter.dev/flutter/dart-core/double-class.html) > (required) - `extra` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html) < [String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>? (optional) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/moveToPosition.html). ### GetLengths Get the lengths of the axes of the gantry (mm). - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-3-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-3-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-3-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-3-3) **Parameters:** **Returns:** - (List[ [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)]): : A list of the lengths of the axes of the gantry in millimeters. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.get_lengths). **Parameters:** **Returns:** - [(float64)](https://pkg.go.dev/builtin#float64): A list of the lengths of the axes of the gantry in millimeters. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gantry#Gantry). **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise): A list of the length of each axis in millimeters. **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#getlengths). **Parameters:** **Returns:** **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/lengths.html). ### Home Run the homing sequence of the gantry to re-calibrate the axes with respect to the limit switches. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-4-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-4-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-4-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-4-3) **Parameters:** **Returns:** - ( [bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the gantry has run the homing sequence successfully. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.home). **Parameters:** **Returns:** - [(bool)](https://pkg.go.dev/builtin#bool): Whether the gantry has run the homing sequence successfully. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/components/gantry#Gantry). **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise): A bool representing whether the gantry has run the homing sequence successfully. **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#home). **Parameters:** **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) < [bool](https://api.flutter.dev/flutter/dart-core/bool-class.html) > **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/home.html). ### GetGeometries Get all the geometries associated with the gantry in its current configuration, in the [frame](https://docs.viam.com/reference/services/frame-system/) of the gantry. The [motion](https://docs.viam.com/reference/services/motion/) and [navigation](https://docs.viam.com/reference/services/navigation/) services use the relative position of inherent geometries to configured geometries representing obstacles for collision detection and obstacle avoidance while motion planning. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-5-0) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-5-1) **Parameters:** **Returns:** - ( [List[viam.proto.common.Geometry]](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Geometry)): : The geometries associated with the Component. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.get_geometries). **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise< [commonApi](https://ts.viam.dev/modules/commonApi.html). [Geometry](https://ts.viam.dev/classes/commonApi.Geometry.html)[]> ) **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#getgeometries). ### IsMoving Get if the gantry is currently moving. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-6-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-6-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-6-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-6-3) **Parameters:** - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - ( [bool](https://docs.python.org/3/library/stdtypes.html#boolean-type-bool)): : Whether the gantry is moving. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.is_moving). **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. **Returns:** - [(bool)](https://pkg.go.dev/builtin#bool): Whether this resource is moving (`true`) or not (`false`). - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Actuator). **Parameters:** - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#ismoving). **Parameters:** - None. **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) < [bool](https://api.flutter.dev/flutter/dart-core/bool-class.html) > **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/isMoving.html). ### Stop Stop all motion of the gantry. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-7-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-7-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-7-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-7-3) **Parameters:** **Returns:** - None. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.stop). **Parameters:** **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Actuator). **Parameters:** - `extra` (None) (optional) - `callOptions` (CallOptions) (optional) **Returns:** - (Promise) **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#stop). **Parameters:** **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/stop.html). ### Reconfigure Reconfigure this resource. Reconfigure must reconfigure the resource atomically and in place. - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-8-0) **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `deps` [(Dependencies)](https://pkg.go.dev/go.viam.com/rdk/resource#Dependencies): The resource dependencies. - `conf` [(Config)](https://pkg.go.dev/go.viam.com/rdk/resource#Config): The resource configuration. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). ### DoCommand Execute model-specific commands that are not otherwise defined by the component API. Most models do not implement `DoCommand`. Any available model-specific commands should be covered in the model's documentation. If you are implementing your own gantry and want to add features that have no corresponding built-in API method, you can implement them with [`DoCommand`](https://docs.viam.com/reference/sdks/docommand/). - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-9-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-9-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-9-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-9-3) **Parameters:** - `command` (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), ValueTypes]) (required): The command to execute. - `timeout` ( [float](https://docs.python.org/3/library/stdtypes.html#numeric-types-int-float-complex)) (optional): An option to set how long to wait (in seconds) before calling a time-out and closing the underlying RPC call. **Returns:** - (Mapping[ [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str), viam.utils.ValueTypes]): : Result of the executed command. **Raises:** - (NotImplementedError): Raised if the Resource does not support arbitrary commands. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.do_command). **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. - `cmd` [(map[string]interface{})](https://go.dev/blog/maps): The command to execute. **Returns:** - [(map[string]interface{})](https://pkg.go.dev/builtin#string): The command response. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). **Parameters:** - `command` ( [Struct](https://ts.viam.dev/classes/Struct.html)) (required): The command to execute. Accepts either a [Struct](https://ts.viam.dev/classes/Struct.html) or a plain object, which will be converted automatically. - `callOptions` (CallOptions) (optional) **Returns:** - (Promise< [JsonValue](https://ts.viam.dev/types/JsonValue.html) >) **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#docommand). **Parameters:** - `command` [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html) < [String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic> (required) **Returns:** - [Future](https://api.flutter.dev/flutter/dart-async/Future-class.html) < [Map](https://api.flutter.dev/flutter/dart-core/Map-class.html) < [String](https://api.flutter.dev/flutter/dart-core/String-class.html), dynamic>> **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Resource/doCommand.html). ### GetKinematics Get the kinematics information associated with the gantry. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-10-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-10-1) **Parameters:** **Returns:** - ( [viam.components.KinematicsReturn](https://python.viam.dev/autoapi/viam/components/index.html#viam.components.KinematicsReturn)): : A tuple containing two values; the first [0] value represents the format of the file, either in URDF format (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_URDF`) or Viam’s kinematic parameter format (spatial vector algebra) (`KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA`), and the second [1] value represents the byte contents of the file. If available, a third [2] value provides meshes keyed by URDF filepath. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.get_kinematics). **Parameters:** **Returns:** - [(referenceframe.Model)](https://pkg.go.dev/go.viam.com/rdk/referenceframe#Model): The kinematics model of the resource. - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/robot/framesystem#InputEnabled). ### GetResourceName Get the `ResourceName` for this gantry. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-11-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-11-1) - [TypeScript](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-11-2) - [Flutter](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-11-3) **Parameters:** - `name` ( [str](https://docs.python.org/3/library/stdtypes.html#text-sequence-type-str)) (required): The name of the Resource. **Returns:** - ( [viam.proto.common.ResourceName](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.ResourceName)): : The ResourceName of this Resource. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.get_resource_name). **Parameters:** - None. **Returns:** - [(Name)](https://pkg.go.dev/go.viam.com/rdk@v0.89.0/resource#Name) **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource). **Parameters:** - None. **Returns:** - (string): The name of the resource. **Example:** ```ts ``` For more information, see the [TypeScript SDK Docs](https://ts.viam.dev/classes/GantryClient.html#name). **Parameters:** - `name` [String](https://api.flutter.dev/flutter/dart-core/String-class.html) (required) **Returns:** - [ResourceName](https://flutter.viam.dev/viam_sdk/ResourceName-class.html) **Example:** ```dart ``` For more information, see the [Flutter SDK Docs](https://flutter.viam.dev/viam_sdk/Gantry/getResourceName.html). ### Close Safely shut down the resource and prevent further use. - [Python](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-12-0) - [Go](https://docs.viam.com/reference/apis/components/gantry/#tabset-referenceapiscomponentsgantry-12-1) **Parameters:** - None. **Returns:** - None. **Example:** ```python ``` For more information, see the [Python SDK Docs](https://python.viam.dev/autoapi/viam/components/gantry/client/index.html#viam.components.gantry.client.GantryClient.close). **Parameters:** - `ctx` [(Context)](https://pkg.go.dev/context#Context): A Context carries a deadline, a cancellation signal, and other values across API boundaries. **Returns:** - [(error)](https://pkg.go.dev/builtin#error): An error, if one occurred. **Example:** ```go ``` For more information, see the [Go SDK Docs](https://pkg.go.dev/go.viam.com/rdk/resource#Resource).