[WORKFLOW] AI update based on proto changes from commit c7aa582

Author: viambot

src/components/gantry/client.ts

@@ -10,10 +10,10 @@ import {
   StopRequest,
 } from '../../gen/component/gantry/v1/gantry_pb';
 import type { RobotClient } from '../../robot';
-import type { Options } from '../../types';
+import type { Options, KinematicsFileFormat } from '../../types';
 import { doCommandFromClient } from '../../utils';
 import type { Gantry } from './gantry';
-import { GetGeometriesRequest } from '../../gen/common/v1/common_pb';
+import { GetGeometriesRequest, GetKinematicsRequest, GetKinematicsResponse } from '../../gen/common/v1/common_pb';
 
 /**
  * A gRPC-web client for the Gantry component.
@@ -118,6 +118,25 @@ export class GantryClient implements Gantry {
     return resp.isMoving;
   }
 
+  /**
+   * Get the kinematics for the gantry.
+   *
+   * @param extra - Any additional parameters to send to the server.
+   * @param callOptions - Options for the gRPC call.
+   * @returns The kinematics for the gantry.
+   */
+  async getKinematics(extra: JsonValue = {}, callOptions = this.callOptions): Promise<KinematicsFileFormat> {
+    const request = new GetKinematicsRequest({
+      name: this.name,
+      extra: Struct.fromJson(extra),
+    });
+
+    this.options.requestLogger?.(request);
+
+    const resp = await this.client.getKinematics(request, callOptions);
+    return resp.kinematicsFileFormat!;
+  }
+
   async doCommand(
     command: Struct,
     callOptions = this.callOptions

src/components/gantry/gantry.ts

@@ -1,5 +1,5 @@
 import type { Struct } from '@bufbuild/protobuf';
-import type { Resource } from '../../types';
+import type { Resource, KinematicsFileFormat } from '../../types';
 import type { Geometry } from '../../gen/common/v1/common_pb';
 
 /** Represents a physical gantry that exists in three-dimensional space. */
@@ -144,4 +144,21 @@ export interface Gantry extends Resource {
    * API](https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving).
    */
   isMoving: () => Promise<boolean>;
+
+  /**
+   * Get the KinematicFileFormat of the component in its current configuration.
+   *
+   * @example
+   *
+   * ```ts
+   * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
+   *
+   * // Get the KinematicFileFormat of this component
+   * const kinematics = await gantry.getKinematics();
+   * ```
+   *
+   * For more information, see [Gantry
+   * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics).
+   */
+  getKinematics: (extra?: Struct) => Promise<KinematicsFileFormat>;
 }

src/types.ts

@@ -38,6 +38,7 @@ export type GeoGeometry = PlainMessage<commonApi.GeoGeometry>;
 export type GeoPoint = PlainMessage<commonApi.GeoPoint>;
 export type GeometriesInFrame = PlainMessage<commonApi.GeometriesInFrame>;
 export type Geometry = PlainMessage<commonApi.Geometry>;
+export type KinematicsFileFormat = PlainMessage<commonApi.KinematicsFileFormat>;
 export type Orientation = PlainMessage<commonApi.Orientation>;
 export type PointCloud = PlainMessage<commonApi.PointCloud>;
 export type Pose = PlainMessage<commonApi.Pose>;
@@ -55,6 +56,7 @@ export const {
   GeoPoint,
   GeometriesInFrame,
   Geometry,
+  KinematicsFileFormat,
   Orientation,
   PointCloud,
   Pose,