[WORKFLOW] AI update based on proto changes from commit d138e3d

Author: viambot

src/components/gantry/client.ts

@@ -13,7 +13,7 @@ import type { RobotClient } from '../../robot';
 import type { Options } from '../../types';
 import { doCommandFromClient } from '../../utils';
 import type { Gantry } from './gantry';
-import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+import { GetGeometriesRequest, GetKinematicsRequest } from '../../gen/common/v1/common_pb';
 
 /**
  * A gRPC-web client for the Gantry component.
@@ -118,6 +118,20 @@ export class GantryClient implements Gantry {
     return resp.isMoving;
   }
 
+  async getKinematics(extra = {}, callOptions = this.callOptions) {
+    const request = new GetKinematicsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra)
+    });
+
+    const response = await this.client.getKinematics(callOptions);
+
+    const decoder = new TextDecoder('utf8');
+    const jsonString = decoder.decode(response.kinematicsData);
+
+    return JSON.parse(jsonString) as ReturnType<Gantry['getKinematics']>;
+  }
+
   async doCommand(
     command: Struct,
     callOptions = this.callOptions
@@ -130,4 +144,4 @@ export class GantryClient implements Gantry {
       callOptions
     );
   }
-}
+}

src/components/gantry/gantry.ts

@@ -1,6 +1,7 @@
 import type { Struct } from '@bufbuild/protobuf';
 import type { Resource } from '../../types';
 import type { Geometry } from '../../gen/common/v1/common_pb';
+import type { JsonValue } from 'type-fest';
 
 /** Represents a physical gantry that exists in three-dimensional space. */
 export interface Gantry extends Resource {
@@ -144,4 +145,24 @@ export interface Gantry extends Resource {
    * API](https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving).
    */
   isMoving: () => Promise<boolean>;
-}
+
+  /**
+   * Get the kinematics of the gantry. This will return the URDF for the gantry.
+   *
+   * @example
+   *
+   * ```ts
+   * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
+   *
+   * // Get the kinematics of the gantry
+   * const kinematics = await gantry.getKinematics();
+   * console.log(kinematics);
+   * ```
+   *
+   * For more information, see [Gantry
+   * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics).
+   *
+   * @returns The kinematics of the gantry as a JSON object.
+   */
+  getKinematics: (extra?: Struct) => Promise<JsonValue>;
+}