[WORKFLOW] AI update based on proto changes from commit 66e9d21

Author: viambot

src/components/gantry/client.ts

@@ -9,11 +9,11 @@ import {
   MoveToPositionRequest,
   StopRequest,
 } from '../../gen/component/gantry/v1/gantry_pb';
+import { GetGeometriesRequest, GetGeometriesResponse, GetKinematicsRequest, GetKinematicsResponse, KinematicsFileFormat } from '../../gen/common/v1/common_pb';
 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';
 
 /**
  * A gRPC-web client for the Gantry component.
@@ -130,4 +130,23 @@ export class GantryClient implements Gantry {
       callOptions
     );
   }
-}
+
+  /**
+   * Get the kinematics of the gantry.
+   *
+   * @param extra - Optional object for additional arguments
+   * @param callOptions - Optional {@link CallOptions} for custom gRPC headers
+   * @returns The {@link KinematicsFileFormat} of the gantry.
+   */
+  async getKinematics(extra = {}, callOptions = this.callOptions) {
+    const request = new GetKinematicsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    this.options.requestLogger?.(request);
+
+    const response = await this.client.getKinematics(request, callOptions);
+    return response.kinematicsData;
+  }
+}

src/components/gantry/gantry.ts

@@ -1,6 +1,6 @@
 import type { Struct } from '@bufbuild/protobuf';
 import type { Resource } from '../../types';
-import type { Geometry } from '../../gen/common/v1/common_pb';
+import type { Geometry, KinematicsFileFormat } from '../../gen/common/v1/common_pb';
 
 /** Represents a physical gantry that exists in three-dimensional space. */
 export interface Gantry extends Resource {
@@ -144,4 +144,20 @@ 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.
+   *
+   * @example
+   *
+   * ```ts
+   * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
+   *
+   * // Get the kinematics of this component
+   * const kinematics = await gantry.getKinematics();
+   * ```
+   *
+   * @returns The {@link KinematicsFileFormat} of the gantry.
+   */
+  getKinematics: (extra?: Struct) => Promise<KinematicsFileFormat>;
+}