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RSDK-13120: update protos#1072

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nfranczak merged 11 commits intoviamrobotics:mainfrom
nfranczak:20260120-RSDK-13120-update-protos
Jan 23, 2026
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RSDK-13120: update protos#1072
nfranczak merged 11 commits intoviamrobotics:mainfrom
nfranczak:20260120-RSDK-13120-update-protos

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@nfranczak nfranczak commented Jan 21, 2026 •
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this pr fixes this PR #1068

  1. changes to data management
  2. get kinematics response now also returns a map of strings to meshes

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github-actions bot commented Jan 21, 2026

Warning your change may break code samples. If your change modifies any of the following functions please contact @viamrobotics/fleet-management. Thanks!

component function
base is_moving
board gpio_pin_by_name
button push
genericcomponent do_command
camera get_images
encoder get_position
motor is_moving
sensor get_readings
servo get_position
switch get_position
arm get_end_position
gantry get_lengths
gripper is_moving
movement_sensor get_linear_acceleration
input_controller get_controls
audio get_properties
pose_tracker get_poses
power_sensor get_power
motion get_pose
vision get_properties
mlmodel metadata
genericservice do_command
slam get_point_cloud_map
audio_in get_properties
audio_out get_properties

@nfranczak nfranczak marked this pull request as ready for review January 21, 2026 18:14
@nfranczak nfranczak requested a review from a team as a code owner January 21, 2026 18:14
stuqdog
stuqdog requested changes Jan 23, 2026
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broad strokes look good to me though I think we do need just a little bit of cleanup before this gets merged!

src/viam/components/gantry/gantry.py Outdated
Comment on lines 10 to 13
KinematicsReturn = Union[
Tuple[KinematicsFileFormat.ValueType, bytes],
Tuple[KinematicsFileFormat.ValueType, bytes, Mapping[str, Mesh]],
]
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A duplicate type is defined in arm.py. Is there any chance of these diverging in the future? If not, might be good to define this type in a common area.

src/viam/components/arm/client.py Outdated
async def get_kinematics(
self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
) -> Tuple[KinematicsFileFormat.ValueType, bytes, Mapping[str, Mesh]]:
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This return type is inconsistent with what we define in arm.py

src/viam/components/gantry/client.py Outdated
async def get_kinematics(
self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None, **kwargs
) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
) -> Tuple[KinematicsFileFormat.ValueType, bytes, Mapping[str, Mesh]]:
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this return type is inconsistent with what we define in gantry.py

src/viam/components/gripper/gripper.py Outdated
Comment on lines 11 to 15
KinematicsReturn = Union[
Tuple[KinematicsFileFormat.ValueType, bytes],
Tuple[KinematicsFileFormat.ValueType, bytes, Mapping[str, Mesh]],
]

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see above re: potentially sharing the KinematicsReturn type.

src/viam/components/gripper/client.py Outdated
timeout: Optional[float] = None,
**kwargs,
) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
) -> Tuple[KinematicsFileFormat.ValueType, bytes, Mapping[str, Mesh]]:
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this return type is inconsistent with gripper.py

@nfranczak nfranczak requested a review from stuqdog January 23, 2026 16:24
@nfranczak nfranczak merged commit 0c05943 into viamrobotics:main Jan 23, 2026
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@stuqdog stuqdog stuqdog approved these changes

@allisonschiang allisonschiang Awaiting requested review from allisonschiang allisonschiang is a code owner automatically assigned from viamrobotics/sdk-netcode

@lia-viam lia-viam Awaiting requested review from lia-viam lia-viam is a code owner automatically assigned from viamrobotics/sdk-netcode

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@nfranczak @stuqdog @viambot