viam-sdk 0.25.2__py3-none-linux_armv7l.whl → 0.62.0__py3-none-linux_armv7l.whl

viam/components/gantry/client.py

@@ -1,8 +1,15 @@
-from typing import Any, Dict, List, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    Geometry,
+    GetKinematicsRequest,
+    GetKinematicsResponse,
+    KinematicsFileFormat,
+)
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -37,12 +44,11 @@ class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> List[float]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetPositionRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout)
+        response: GetPositionResponse = await self.client.GetPosition(request, timeout=timeout, metadata=md)
         return list(response.positions_mm)
 
     async def move_to_position(
@@ -52,24 +58,22 @@ class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = MoveToPositionRequest(name=self.name, positions_mm=positions, speeds_mm_per_sec=speeds, extra=dict_to_struct(extra))
-        await self.client.MoveToPosition(request, timeout=timeout)
+        await self.client.MoveToPosition(request, timeout=timeout, metadata=md)
 
     async def home(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> bool:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = HomeRequest(name=self.name, extra=dict_to_struct(extra))
-        response: HomeResponse = await self.client.Home(request, timeout=timeout)
+        response: HomeResponse = await self.client.Home(request, timeout=timeout, metadata=md)
         return response.homed
 
     async def get_lengths(
@@ -77,12 +81,11 @@ class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> List[float]:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GetLengthsRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GetLengthsResponse = await self.client.GetLengths(request, timeout=timeout)
+        response: GetLengthsResponse = await self.client.GetLengths(request, timeout=timeout, metadata=md)
         return list(response.lengths_mm)
 
     async def stop(
@@ -90,16 +93,16 @@ class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
-        await self.client.Stop(request, timeout=timeout)
+        await self.client.Stop(request, timeout=timeout, metadata=md)
 
-    async def is_moving(self, *, timeout: Optional[float] = None) -> bool:
+    async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = IsMovingRequest(name=self.name)
-        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md)
         return response.is_moving
 
     async def do_command(
@@ -107,11 +110,21 @@ class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, ValueTypes],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_kinematics(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout, metadata=md)
+        return (response.format, response.kinematics_data)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)

viam/components/gantry/gantry.py

@@ -1,7 +1,8 @@
 import abc
-from typing import Any, Dict, Final, List, Optional
+from typing import Any, Dict, Final, List, Optional, Tuple
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.components.arm import KinematicsFileFormat
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 
 from ..component_base import ComponentBase
 
@@ -18,10 +19,10 @@ class Gantry(ComponentBase):
 
         from viam.components.gantry import Gantry
 
-    For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+    For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "gantry"
     )
 
@@ -32,7 +33,7 @@ class Gantry(ComponentBase):
 
         ::
 
-            my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
 
             # Get the current positions of the axes of the gantry in millimeters.
             positions = await my_gantry.get_position()
@@ -40,7 +41,7 @@ class Gantry(ComponentBase):
         Returns:
             List[float]: A list of the position of the axes of the gantry in millimeters.
 
-        For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#getposition>`_.
         """
         ...
 
@@ -59,7 +60,7 @@ class Gantry(ComponentBase):
 
         ::
 
-            my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
 
             # Create a list of positions for the axes of the gantry to move to. Assume in
             # this example that the gantry is multi-axis, with 3 axes.
@@ -75,7 +76,7 @@ class Gantry(ComponentBase):
             positions (List[float]): A list of positions for the axes of the gantry to move to, in millimeters.
             speeds (List[float]): A list of speeds in millimeters per second for the gantry to move at respective to each axis.
 
-        For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#movetoposition>`_.
         """
         ...
 
@@ -86,14 +87,14 @@ class Gantry(ComponentBase):
 
         ::
 
-            my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
 
             await my_gantry.home()
 
         Returns:
             bool: Whether the gantry has run the homing sequence successfully.
 
-        For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#home>`_.
         """
 
     @abc.abstractmethod
@@ -103,7 +104,7 @@ class Gantry(ComponentBase):
 
         ::
 
-            my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
 
             # Get the lengths of the axes of the gantry in millimeters.
             lengths_mm = await my_gantry.get_lengths()
@@ -111,7 +112,7 @@ class Gantry(ComponentBase):
         Returns:
             List[float]: A list of the lengths of the axes of the gantry in millimeters.
 
-        For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#getlengths>`_.
         """
         ...
 
@@ -122,13 +123,13 @@ class Gantry(ComponentBase):
 
         ::
 
-            my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
 
             # Stop all motion of the gantry. It is assumed that the gantry stops
             # immediately.
             await my_gantry.stop()
 
-        For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#stop>`_.
         """
         ...
 
@@ -139,18 +140,48 @@ class Gantry(ComponentBase):
 
         ::
 
-            my_gantry = Gantry.from_robot(robot=robot, name="my_gantry")
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
 
             # Stop all motion of the gantry. It is assumed that the
             # gantry stops immediately.
             await my_gantry.stop()
 
             # Print if the gantry is currently moving.
-            print(my_gantry.is_moving())
+            print(await my_gantry.is_moving())
 
         Returns:
             bool: Whether the gantry is moving.
 
-        For more information, see `Gantry component <https://docs.viam.com/components/gantry/>`_.
+        For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving>`_.
+        """
+        ...
+
+    @abc.abstractmethod
+    async def get_kinematics(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        """
+        Get the kinematics information associated with the gantry.
+
+        ::
+
+            my_gantry = Gantry.from_robot(robot=machine, name="my_gantry")
+
+            # Get the kinematics information associated with the gantry.
+            kinematics = await my_gantry.get_kinematics()
+
+            # Get the format of the kinematics file.
+            k_file = kinematics[0]
+
+            # Get the byte contents of the file.
+            k_bytes = kinematics[1]
+
+        Returns:
+            Tuple[KinematicsFileFormat.ValueType, bytes]: 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.
+
+        For more information, see `Arm component <https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics>`_.
         """
         ...

viam/components/gantry/service.py

@@ -1,8 +1,14 @@
 from grpclib.server import Stream
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetKinematicsRequest,
+    GetKinematicsResponse,
+)
 from viam.proto.component.gantry import (
-    GantryServiceBase,
     GetLengthsRequest,
     GetLengthsResponse,
     GetPositionRequest,
@@ -15,6 +21,7 @@ from viam.proto.component.gantry import (
     MoveToPositionResponse,
     StopRequest,
     StopResponse,
+    UnimplementedGantryServiceBase,
 )
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
 from viam.utils import dict_to_struct, struct_to_dict
@@ -22,7 +29,7 @@ from viam.utils import dict_to_struct, struct_to_dict
 from .gantry import Gantry
 
 
-class GantryRPCService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
+class GantryRPCService(UnimplementedGantryServiceBase, ResourceRPCServiceBase[Gantry]):
     """
     gRPC Service for a Gantry
     """
@@ -103,11 +110,20 @@ class GantryRPCService(GantryServiceBase, ResourceRPCServiceBase[Gantry]):
         response = DoCommandResponse(result=dict_to_struct(result))
         await stream.send_message(response)
 
+    async def GetKinematics(self, stream: Stream[GetKinematicsRequest, GetKinematicsResponse]) -> None:
+        request = await stream.recv_message()
+        assert request is not None
+        gantry = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        format, data = await gantry.get_kinematics(extra=struct_to_dict(request.extra), timeout=timeout, metadata=stream.metadata)
+        response = GetKinematicsResponse(format=format, kinematics_data=data)
+        await stream.send_message(response)
+
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
         request = await stream.recv_message()
         assert request is not None
-        arm = self.get_resource(request.name)
+        gantry = self.get_resource(request.name)
         timeout = stream.deadline.time_remaining() if stream.deadline else None
-        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        geometries = await gantry.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
         response = GetGeometriesResponse(geometries=geometries)
         await stream.send_message(response)

viam/components/generic/__init__.py

@@ -9,7 +9,7 @@ __all__ = [
     "Generic",
 ]
 
-Registry.register_subtype(
+Registry.register_api(
     ResourceRegistration(
         Generic,
         GenericRPCService,

viam/components/generic/client.py

@@ -5,7 +5,7 @@ from grpclib.client import Channel
 
 from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
 from viam.proto.component.generic import GenericServiceStub
-from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
+from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase, ResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
 from .generic import Generic
@@ -17,6 +17,7 @@ class GenericClient(Generic, ReconfigurableResourceRPCClientBase):
     """
 
     def __init__(self, name: str, channel: Channel):
+        self.channel = channel
         self.client = GenericServiceStub(channel)
         super().__init__(name)
 
@@ -25,11 +26,12 @@ class GenericClient(Generic, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, Any],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, Any]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         try:
-            response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+            response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         except GRPCError as e:
             if e.status == Status.UNIMPLEMENTED:
                 raise NotImplementedError()
@@ -37,12 +39,13 @@ class GenericClient(Generic, ReconfigurableResourceRPCClientBase):
 
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)
 
 
 async def do_command(
-    channel: Channel, name: str, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None
+    channel: Channel, name: str, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs
 ) -> Mapping[str, ValueTypes]:
     """Convenience method to allow component clients to execute ``do_command`` functions
 
@@ -54,5 +57,6 @@ async def do_command(
     Returns:
         Dict[str, Any]: The result of the executed command
     """
+    md = kwargs.get("metadata", ResourceRPCClientBase.Metadata()).proto
     client = GenericClient(name, channel)
-    return await client.do_command(command, timeout=timeout)
+    return await client.do_command(command, timeout=timeout, metadata=md)

viam/components/generic/generic.py

@@ -1,6 +1,6 @@
 from typing import Final
 
-from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
+from viam.resource.types import API, RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT
 
 from ..component_base import ComponentBase
 
@@ -68,9 +68,9 @@ class Generic(ComponentBase):
         await asyncio.sleep(10)
         component.power  # 0
 
-    For more information, see `Gantry component <https://docs.viam.com/components/generic/>`_.
+    For more information, see `Gantry component <https://docs.viam.com/dev/reference/apis/components/generic/>`_.
     """
 
-    SUBTYPE: Final = Subtype(  # pyright: ignore [reportIncompatibleVariableOverride]
+    API: Final = API(  # pyright: ignore [reportIncompatibleVariableOverride]
         RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "generic"
     )

viam/components/gripper/__init__.py

@@ -1,7 +1,5 @@
-from viam.proto.common import ActuatorStatus
-from viam.proto.robot import Status
+from viam.proto.common import KinematicsFileFormat
 from viam.resource.registry import Registry, ResourceRegistration
-from viam.utils import message_to_struct
 
 from .client import GripperClient
 from .gripper import Gripper
@@ -9,14 +7,7 @@ from .service import GripperRPCService
 
 __all__ = [
     "Gripper",
+    "KinematicsFileFormat",
 ]
 
-
-async def create_status(component: Gripper) -> Status:
-    s = ActuatorStatus(is_moving=await component.is_moving())
-    return Status(name=Gripper.get_resource_name(component.name), status=message_to_struct(s))
-
-
-Registry.register_subtype(
-    ResourceRegistration(Gripper, GripperRPCService, lambda name, channel: GripperClient(name, channel), create_status)
-)
+Registry.register_api(ResourceRegistration(Gripper, GripperRPCService, lambda name, channel: GripperClient(name, channel)))

viam/components/gripper/client.py

@@ -1,12 +1,14 @@
-from typing import Any, Dict, List, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
-from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry
+from viam.proto.common import DoCommandRequest, DoCommandResponse, Geometry, GetKinematicsRequest, GetKinematicsResponse
 from viam.proto.component.gripper import (
     GrabRequest,
     GrabResponse,
     GripperServiceStub,
+    IsHoldingSomethingRequest,
+    IsHoldingSomethingResponse,
     IsMovingRequest,
     IsMovingResponse,
     OpenRequest,
@@ -15,6 +17,7 @@ from viam.proto.component.gripper import (
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
 from viam.utils import ValueTypes, dict_to_struct, get_geometries, struct_to_dict
 
+from . import KinematicsFileFormat
 from .gripper import Gripper
 
 
@@ -33,24 +36,22 @@ class GripperClient(Gripper, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = OpenRequest(name=self.name, extra=dict_to_struct(extra))
-        await self.client.Open(request, timeout=timeout)
+        await self.client.Open(request, timeout=timeout, metadata=md)
 
     async def grab(
         self,
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> bool:
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = GrabRequest(name=self.name, extra=dict_to_struct(extra))
-        response: GrabResponse = await self.client.Grab(request, timeout=timeout)
+        response: GrabResponse = await self.client.Grab(request, timeout=timeout, metadata=md)
         return response.success
 
     async def stop(
@@ -58,16 +59,24 @@ class GripperClient(Gripper, ReconfigurableResourceRPCClientBase):
         *,
         extra: Optional[Dict[str, Any]] = None,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ):
-        if extra is None:
-            extra = {}
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = StopRequest(name=self.name, extra=dict_to_struct(extra))
-        await self.client.Stop(request, timeout=timeout)
+        await self.client.Stop(request, timeout=timeout, metadata=md)
 
-    async def is_moving(self, *, timeout: Optional[float] = None) -> bool:
+    async def is_holding_something(
+        self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
+    ) -> Gripper.HoldingStatus:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = IsHoldingSomethingRequest(name=self.name, extra=dict_to_struct(extra))
+        response: IsHoldingSomethingResponse = await self.client.IsHoldingSomething(request, timeout=timeout, metadata=md)
+        return Gripper.HoldingStatus(response.is_holding_something, meta=struct_to_dict(response.meta))
+
+    async def is_moving(self, *, timeout: Optional[float] = None, **kwargs) -> bool:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = IsMovingRequest(name=self.name)
-        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout)
+        response: IsMovingResponse = await self.client.IsMoving(request, timeout=timeout, metadata=md)
         return response.is_moving
 
     async def do_command(
@@ -75,11 +84,25 @@ class GripperClient(Gripper, ReconfigurableResourceRPCClientBase):
         command: Mapping[str, ValueTypes],
         *,
         timeout: Optional[float] = None,
-        **__,
+        **kwargs,
     ) -> Mapping[str, ValueTypes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
-        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
+        response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout, metadata=md)
         return struct_to_dict(response.result)
 
-    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
-        return await get_geometries(self.client, self.name, extra, timeout)
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs) -> List[Geometry]:
+        md = kwargs.get("metadata", self.Metadata())
+        return await get_geometries(self.client, self.name, extra, timeout, md)
+
+    async def get_kinematics(
+        self,
+        *,
+        extra: Optional[Dict[str, Any]] = None,
+        timeout: Optional[float] = None,
+        **kwargs,
+    ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
+        md = kwargs.get("metadata", self.Metadata()).proto
+        request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra))
+        response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout, metadata=md)
+        return (response.format, response.kinematics_data)