diff --git a/src/viam/api/api_proto_tag.lock b/src/viam/api/api_proto_tag.lock
index 661158514..b59e762a6 100644
--- a/src/viam/api/api_proto_tag.lock
+++ b/src/viam/api/api_proto_tag.lock
@@ -1 +1 @@
-v0.1.437
+v0.1.438
diff --git a/src/viam/api/buf.lock b/src/viam/api/buf.lock
index d01f61f36..eeb1d7646 100644
--- a/src/viam/api/buf.lock
+++ b/src/viam/api/buf.lock
@@ -8,7 +8,7 @@ deps:
   - remote: buf.build
     owner: viamrobotics
     repository: api
-    commit: 22939b6796cf497e99e1b0ae3aeb2739
+    commit: 06248acaee27423faa969bce0b3258f6
   - remote: buf.build
     owner: viamrobotics
     repository: goutils
diff --git a/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc b/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc
index 1ff539b51..eeda92e71 100644
--- a/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc
+++ b/src/viam/api/component/gripper/v1/gripper.grpc.pb.cc
@@ -31,6 +31,7 @@ static const char* GripperService_method_names[] = {
   "/viam.component.gripper.v1.GripperService/IsMoving",
   "/viam.component.gripper.v1.GripperService/DoCommand",
   "/viam.component.gripper.v1.GripperService/GetGeometries",
+  "/viam.component.gripper.v1.GripperService/GetKinematics",
 };
 
 std::unique_ptr< GripperService::Stub> GripperService::NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options) {
@@ -46,6 +47,7 @@ GripperService::Stub::Stub(const std::shared_ptr< ::grpc::ChannelInterface>& cha
   , rpcmethod_IsMoving_(GripperService_method_names[3], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_DoCommand_(GripperService_method_names[4], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   , rpcmethod_GetGeometries_(GripperService_method_names[5], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
+  , rpcmethod_GetKinematics_(GripperService_method_names[6], ::grpc::internal::RpcMethod::NORMAL_RPC, channel)
   {}
 
 ::grpc::Status GripperService::Stub::Open(::grpc::ClientContext* context, const ::viam::component::gripper::v1::OpenRequest& request, ::viam::component::gripper::v1::OpenResponse* response) {
@@ -216,6 +218,34 @@ ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetGeometriesResponse>* G
   return ::grpc_impl::internal::ClientAsyncResponseReaderFactory< ::viam::common::v1::GetGeometriesResponse>::Create(channel_.get(), cq, rpcmethod_GetGeometries_, context, request, false);
 }
 
+::grpc::Status GripperService::Stub::GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::viam::common::v1::GetKinematicsResponse* response) {
+  return ::grpc::internal::BlockingUnaryCall(channel_.get(), rpcmethod_GetKinematics_, context, request, response);
+}
+
+void GripperService::Stub::experimental_async::GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc_impl::internal::CallbackUnaryCall(stub_->channel_.get(), stub_->rpcmethod_GetKinematics_, context, request, response, std::move(f));
+}
+
+void GripperService::Stub::experimental_async::GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, std::function<void(::grpc::Status)> f) {
+  ::grpc_impl::internal::CallbackUnaryCall(stub_->channel_.get(), stub_->rpcmethod_GetKinematics_, context, request, response, std::move(f));
+}
+
+void GripperService::Stub::experimental_async::GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc_impl::internal::ClientCallbackUnaryFactory::Create(stub_->channel_.get(), stub_->rpcmethod_GetKinematics_, context, request, response, reactor);
+}
+
+void GripperService::Stub::experimental_async::GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) {
+  ::grpc_impl::internal::ClientCallbackUnaryFactory::Create(stub_->channel_.get(), stub_->rpcmethod_GetKinematics_, context, request, response, reactor);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>* GripperService::Stub::AsyncGetKinematicsRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc_impl::internal::ClientAsyncResponseReaderFactory< ::viam::common::v1::GetKinematicsResponse>::Create(channel_.get(), cq, rpcmethod_GetKinematics_, context, request, true);
+}
+
+::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>* GripperService::Stub::PrepareAsyncGetKinematicsRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) {
+  return ::grpc_impl::internal::ClientAsyncResponseReaderFactory< ::viam::common::v1::GetKinematicsResponse>::Create(channel_.get(), cq, rpcmethod_GetKinematics_, context, request, false);
+}
+
 GripperService::Service::Service() {
   AddMethod(new ::grpc::internal::RpcServiceMethod(
       GripperService_method_names[0],
@@ -277,6 +307,16 @@ GripperService::Service::Service() {
              ::viam::common::v1::GetGeometriesResponse* resp) {
                return service->GetGeometries(ctx, req, resp);
              }, this)));
+  AddMethod(new ::grpc::internal::RpcServiceMethod(
+      GripperService_method_names[6],
+      ::grpc::internal::RpcMethod::NORMAL_RPC,
+      new ::grpc::internal::RpcMethodHandler< GripperService::Service, ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>(
+          [](GripperService::Service* service,
+             ::grpc_impl::ServerContext* ctx,
+             const ::viam::common::v1::GetKinematicsRequest* req,
+             ::viam::common::v1::GetKinematicsResponse* resp) {
+               return service->GetKinematics(ctx, req, resp);
+             }, this)));
 }
 
 GripperService::Service::~Service() {
@@ -324,6 +364,13 @@ ::grpc::Status GripperService::Service::GetGeometries(::grpc::ServerContext* con
   return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
 }
 
+::grpc::Status GripperService::Service::GetKinematics(::grpc::ServerContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response) {
+  (void) context;
+  (void) request;
+  (void) response;
+  return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+}
+
 
 }  // namespace viam
 }  // namespace component
diff --git a/src/viam/api/component/gripper/v1/gripper.grpc.pb.h b/src/viam/api/component/gripper/v1/gripper.grpc.pb.h
index 77869954c..3c8c9515f 100644
--- a/src/viam/api/component/gripper/v1/gripper.grpc.pb.h
+++ b/src/viam/api/component/gripper/v1/gripper.grpc.pb.h
@@ -88,6 +88,14 @@ class GripperService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>> PrepareAsyncGetGeometries(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>>(PrepareAsyncGetGeometriesRaw(context, request, cq));
     }
+    // GetKinematics returns the kinematics file for the component
+    virtual ::grpc::Status GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::viam::common::v1::GetKinematicsResponse* response) = 0;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetKinematicsResponse>> AsyncGetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetKinematicsResponse>>(AsyncGetKinematicsRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetKinematicsResponse>> PrepareAsyncGetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetKinematicsResponse>>(PrepareAsyncGetKinematicsRaw(context, request, cq));
+    }
     class experimental_async_interface {
      public:
       virtual ~experimental_async_interface() {}
@@ -169,6 +177,19 @@ class GripperService final {
       #else
       virtual void GetGeometries(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetGeometriesResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
       #endif
+      // GetKinematics returns the kinematics file for the component
+      virtual void GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, std::function<void(::grpc::Status)>) = 0;
+      virtual void GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, std::function<void(::grpc::Status)>) = 0;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      virtual void GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::ClientUnaryReactor* reactor) = 0;
+      #else
+      virtual void GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) = 0;
+      #endif
     };
     #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
     typedef class experimental_async_interface async_interface;
@@ -190,6 +211,8 @@ class GripperService final {
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>* AsyncGetGeometriesRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) = 0;
     virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetGeometriesResponse>* PrepareAsyncGetGeometriesRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetKinematicsResponse>* AsyncGetKinematicsRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) = 0;
+    virtual ::grpc::ClientAsyncResponseReaderInterface< ::viam::common::v1::GetKinematicsResponse>* PrepareAsyncGetKinematicsRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) = 0;
   };
   class Stub final : public StubInterface {
    public:
@@ -236,6 +259,13 @@ class GripperService final {
     std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetGeometriesResponse>> PrepareAsyncGetGeometries(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) {
       return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetGeometriesResponse>>(PrepareAsyncGetGeometriesRaw(context, request, cq));
     }
+    ::grpc::Status GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::viam::common::v1::GetKinematicsResponse* response) override;
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>> AsyncGetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>>(AsyncGetKinematicsRaw(context, request, cq));
+    }
+    std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>> PrepareAsyncGetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) {
+      return std::unique_ptr< ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>>(PrepareAsyncGetKinematicsRaw(context, request, cq));
+    }
     class experimental_async final :
       public StubInterface::experimental_async_interface {
      public:
@@ -311,6 +341,18 @@ class GripperService final {
       #else
       void GetGeometries(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetGeometriesResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
       #endif
+      void GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, std::function<void(::grpc::Status)>) override;
+      void GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, std::function<void(::grpc::Status)>) override;
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void GetKinematics(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
+      #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      void GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::ClientUnaryReactor* reactor) override;
+      #else
+      void GetKinematics(::grpc::ClientContext* context, const ::grpc::ByteBuffer* request, ::viam::common::v1::GetKinematicsResponse* response, ::grpc::experimental::ClientUnaryReactor* reactor) override;
+      #endif
      private:
       friend class Stub;
       explicit experimental_async(Stub* stub): stub_(stub) { }
@@ -334,12 +376,15 @@ class GripperService final {
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::DoCommandResponse>* PrepareAsyncDoCommandRaw(::grpc::ClientContext* context, const ::viam::common::v1::DoCommandRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetGeometriesResponse>* AsyncGetGeometriesRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) override;
     ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetGeometriesResponse>* PrepareAsyncGetGeometriesRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetGeometriesRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>* AsyncGetKinematicsRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) override;
+    ::grpc::ClientAsyncResponseReader< ::viam::common::v1::GetKinematicsResponse>* PrepareAsyncGetKinematicsRaw(::grpc::ClientContext* context, const ::viam::common::v1::GetKinematicsRequest& request, ::grpc::CompletionQueue* cq) override;
     const ::grpc::internal::RpcMethod rpcmethod_Open_;
     const ::grpc::internal::RpcMethod rpcmethod_Grab_;
     const ::grpc::internal::RpcMethod rpcmethod_Stop_;
     const ::grpc::internal::RpcMethod rpcmethod_IsMoving_;
     const ::grpc::internal::RpcMethod rpcmethod_DoCommand_;
     const ::grpc::internal::RpcMethod rpcmethod_GetGeometries_;
+    const ::grpc::internal::RpcMethod rpcmethod_GetKinematics_;
   };
   static std::unique_ptr<Stub> NewStub(const std::shared_ptr< ::grpc::ChannelInterface>& channel, const ::grpc::StubOptions& options = ::grpc::StubOptions());
 
@@ -359,6 +404,8 @@ class GripperService final {
     virtual ::grpc::Status DoCommand(::grpc::ServerContext* context, const ::viam::common::v1::DoCommandRequest* request, ::viam::common::v1::DoCommandResponse* response);
     // GetGeometries returns the geometries of the component in their current configuration
     virtual ::grpc::Status GetGeometries(::grpc::ServerContext* context, const ::viam::common::v1::GetGeometriesRequest* request, ::viam::common::v1::GetGeometriesResponse* response);
+    // GetKinematics returns the kinematics file for the component
+    virtual ::grpc::Status GetKinematics(::grpc::ServerContext* context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response);
   };
   template <class BaseClass>
   class WithAsyncMethod_Open : public BaseClass {
@@ -480,7 +527,27 @@ class GripperService final {
       ::grpc::Service::RequestAsyncUnary(5, context, request, response, new_call_cq, notification_cq, tag);
     }
   };
-  typedef WithAsyncMethod_Open<WithAsyncMethod_Grab<WithAsyncMethod_Stop<WithAsyncMethod_IsMoving<WithAsyncMethod_DoCommand<WithAsyncMethod_GetGeometries<Service > > > > > > AsyncService;
+  template <class BaseClass>
+  class WithAsyncMethod_GetKinematics : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithAsyncMethod_GetKinematics() {
+      ::grpc::Service::MarkMethodAsync(6);
+    }
+    ~WithAsyncMethod_GetKinematics() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetKinematics(::grpc::ServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestGetKinematics(::grpc::ServerContext* context, ::viam::common::v1::GetKinematicsRequest* request, ::grpc::ServerAsyncResponseWriter< ::viam::common::v1::GetKinematicsResponse>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  typedef WithAsyncMethod_Open<WithAsyncMethod_Grab<WithAsyncMethod_Stop<WithAsyncMethod_IsMoving<WithAsyncMethod_DoCommand<WithAsyncMethod_GetGeometries<WithAsyncMethod_GetKinematics<Service > > > > > > > AsyncService;
   template <class BaseClass>
   class ExperimentalWithCallbackMethod_Open : public BaseClass {
    private:
@@ -763,11 +830,58 @@ class GripperService final {
     #endif
       { return nullptr; }
   };
+  template <class BaseClass>
+  class ExperimentalWithCallbackMethod_GetKinematics : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithCallbackMethod_GetKinematics() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodCallback(6,
+          new ::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::viam::common::v1::GetKinematicsRequest* request, ::viam::common::v1::GetKinematicsResponse* response) { return this->GetKinematics(context, request, response); }));}
+    void SetMessageAllocatorFor_GetKinematics(
+        ::grpc::experimental::MessageAllocator< ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>* allocator) {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::GetHandler(6);
+    #else
+      ::grpc::internal::MethodHandler* const handler = ::grpc::Service::experimental().GetHandler(6);
+    #endif
+      static_cast<::grpc_impl::internal::CallbackUnaryHandler< ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>*>(handler)
+              ->SetMessageAllocator(allocator);
+    }
+    ~ExperimentalWithCallbackMethod_GetKinematics() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetKinematics(::grpc::ServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* GetKinematics(
+      ::grpc::CallbackServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* GetKinematics(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/)
+    #endif
+      { return nullptr; }
+  };
   #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
-  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<Service > > > > > > CallbackService;
+  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<ExperimentalWithCallbackMethod_GetKinematics<Service > > > > > > > CallbackService;
   #endif
 
-  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<Service > > > > > > ExperimentalCallbackService;
+  typedef ExperimentalWithCallbackMethod_Open<ExperimentalWithCallbackMethod_Grab<ExperimentalWithCallbackMethod_Stop<ExperimentalWithCallbackMethod_IsMoving<ExperimentalWithCallbackMethod_DoCommand<ExperimentalWithCallbackMethod_GetGeometries<ExperimentalWithCallbackMethod_GetKinematics<Service > > > > > > > ExperimentalCallbackService;
   template <class BaseClass>
   class WithGenericMethod_Open : public BaseClass {
    private:
@@ -871,6 +985,23 @@ class GripperService final {
     }
   };
   template <class BaseClass>
+  class WithGenericMethod_GetKinematics : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithGenericMethod_GetKinematics() {
+      ::grpc::Service::MarkMethodGeneric(6);
+    }
+    ~WithGenericMethod_GetKinematics() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetKinematics(::grpc::ServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+  };
+  template <class BaseClass>
   class WithRawMethod_Open : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -991,6 +1122,26 @@ class GripperService final {
     }
   };
   template <class BaseClass>
+  class WithRawMethod_GetKinematics : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithRawMethod_GetKinematics() {
+      ::grpc::Service::MarkMethodRaw(6);
+    }
+    ~WithRawMethod_GetKinematics() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetKinematics(::grpc::ServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    void RequestGetKinematics(::grpc::ServerContext* context, ::grpc::ByteBuffer* request, ::grpc::ServerAsyncResponseWriter< ::grpc::ByteBuffer>* response, ::grpc::CompletionQueue* new_call_cq, ::grpc::ServerCompletionQueue* notification_cq, void *tag) {
+      ::grpc::Service::RequestAsyncUnary(6, context, request, response, new_call_cq, notification_cq, tag);
+    }
+  };
+  template <class BaseClass>
   class ExperimentalWithRawCallbackMethod_Open : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -1219,6 +1370,44 @@ class GripperService final {
       { return nullptr; }
   };
   template <class BaseClass>
+  class ExperimentalWithRawCallbackMethod_GetKinematics : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    ExperimentalWithRawCallbackMethod_GetKinematics() {
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+      ::grpc::Service::
+    #else
+      ::grpc::Service::experimental().
+    #endif
+        MarkMethodRawCallback(6,
+          new ::grpc_impl::internal::CallbackUnaryHandler< ::grpc::ByteBuffer, ::grpc::ByteBuffer>(
+            [this](
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+                   ::grpc::CallbackServerContext*
+    #else
+                   ::grpc::experimental::CallbackServerContext*
+    #endif
+                     context, const ::grpc::ByteBuffer* request, ::grpc::ByteBuffer* response) { return this->GetKinematics(context, request, response); }));
+    }
+    ~ExperimentalWithRawCallbackMethod_GetKinematics() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable synchronous version of this method
+    ::grpc::Status GetKinematics(::grpc::ServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    #ifdef GRPC_CALLBACK_API_NONEXPERIMENTAL
+    virtual ::grpc::ServerUnaryReactor* GetKinematics(
+      ::grpc::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #else
+    virtual ::grpc::experimental::ServerUnaryReactor* GetKinematics(
+      ::grpc::experimental::CallbackServerContext* /*context*/, const ::grpc::ByteBuffer* /*request*/, ::grpc::ByteBuffer* /*response*/)
+    #endif
+      { return nullptr; }
+  };
+  template <class BaseClass>
   class WithStreamedUnaryMethod_Open : public BaseClass {
    private:
     void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
@@ -1380,9 +1569,36 @@ class GripperService final {
     // replace default version of method with streamed unary
     virtual ::grpc::Status StreamedGetGeometries(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::common::v1::GetGeometriesRequest,::viam::common::v1::GetGeometriesResponse>* server_unary_streamer) = 0;
   };
-  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<Service > > > > > > StreamedUnaryService;
+  template <class BaseClass>
+  class WithStreamedUnaryMethod_GetKinematics : public BaseClass {
+   private:
+    void BaseClassMustBeDerivedFromService(const Service* /*service*/) {}
+   public:
+    WithStreamedUnaryMethod_GetKinematics() {
+      ::grpc::Service::MarkMethodStreamed(6,
+        new ::grpc::internal::StreamedUnaryHandler<
+          ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>(
+            [this](::grpc_impl::ServerContext* context,
+                   ::grpc_impl::ServerUnaryStreamer<
+                     ::viam::common::v1::GetKinematicsRequest, ::viam::common::v1::GetKinematicsResponse>* streamer) {
+                       return this->StreamedGetKinematics(context,
+                         streamer);
+                  }));
+    }
+    ~WithStreamedUnaryMethod_GetKinematics() override {
+      BaseClassMustBeDerivedFromService(this);
+    }
+    // disable regular version of this method
+    ::grpc::Status GetKinematics(::grpc::ServerContext* /*context*/, const ::viam::common::v1::GetKinematicsRequest* /*request*/, ::viam::common::v1::GetKinematicsResponse* /*response*/) override {
+      abort();
+      return ::grpc::Status(::grpc::StatusCode::UNIMPLEMENTED, "");
+    }
+    // replace default version of method with streamed unary
+    virtual ::grpc::Status StreamedGetKinematics(::grpc::ServerContext* context, ::grpc::ServerUnaryStreamer< ::viam::common::v1::GetKinematicsRequest,::viam::common::v1::GetKinematicsResponse>* server_unary_streamer) = 0;
+  };
+  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<WithStreamedUnaryMethod_GetKinematics<Service > > > > > > > StreamedUnaryService;
   typedef Service SplitStreamedService;
-  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<Service > > > > > > StreamedService;
+  typedef WithStreamedUnaryMethod_Open<WithStreamedUnaryMethod_Grab<WithStreamedUnaryMethod_Stop<WithStreamedUnaryMethod_IsMoving<WithStreamedUnaryMethod_DoCommand<WithStreamedUnaryMethod_GetGeometries<WithStreamedUnaryMethod_GetKinematics<Service > > > > > > > StreamedService;
 };
 
 }  // namespace v1
diff --git a/src/viam/api/component/gripper/v1/gripper.pb.cc b/src/viam/api/component/gripper/v1/gripper.pb.cc
index 60ef7f2a8..c20f80a16 100644
--- a/src/viam/api/component/gripper/v1/gripper.pb.cc
+++ b/src/viam/api/component/gripper/v1/gripper.pb.cc
@@ -228,7 +228,7 @@ const char descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto[
   "obuf.StructR\005extra\"\016\n\014StopResponse\"%\n\017Is"
   "MovingRequest\022\022\n\004name\030\001 \001(\tR\004name\"/\n\020IsM"
   "ovingResponse\022\033\n\tis_moving\030\001 \001(\010R\010isMovi"
-  "ng2\207\007\n\016GripperService\022\217\001\n\004Open\022&.viam.co"
+  "ng2\240\010\n\016GripperService\022\217\001\n\004Open\022&.viam.co"
   "mponent.gripper.v1.OpenRequest\032\'.viam.co"
   "mponent.gripper.v1.OpenResponse\"6\240\222)\001\202\323\344"
   "\223\002,\032*/viam/api/v1/component/gripper/{nam"
@@ -250,9 +250,13 @@ const char descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto[
   "GetGeometries\022$.viam.common.v1.GetGeomet"
   "riesRequest\032%.viam.common.v1.GetGeometri"
   "esResponse\"8\202\323\344\223\0022\0220/viam/api/v1/compone"
-  "nt/gripper/{name}/geometriesBE\n\035com.viam"
-  ".component.gripper.v1Z$go.viam.com/api/c"
-  "omponent/gripper/v1b\006proto3"
+  "nt/gripper/{name}/geometries\022\226\001\n\rGetKine"
+  "matics\022$.viam.common.v1.GetKinematicsReq"
+  "uest\032%.viam.common.v1.GetKinematicsRespo"
+  "nse\"8\202\323\344\223\0022\0220/viam/api/v1/component/grip"
+  "per/{name}/kinematicsBE\n\035com.viam.compon"
+  "ent.gripper.v1Z$go.viam.com/api/componen"
+  "t/gripper/v1b\006proto3"
   ;
 static const ::_pbi::DescriptorTable* const descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_deps[3] = {
   &::descriptor_table_common_2fv1_2fcommon_2eproto,
@@ -261,7 +265,7 @@ static const ::_pbi::DescriptorTable* const descriptor_table_component_2fgripper
 };
 static ::_pbi::once_flag descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once;
 const ::_pbi::DescriptorTable descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto = {
-    false, false, 1587, descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto,
+    false, false, 1740, descriptor_table_protodef_component_2fgripper_2fv1_2fgripper_2eproto,
     "component/gripper/v1/gripper.proto",
     &descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_once, descriptor_table_component_2fgripper_2fv1_2fgripper_2eproto_deps, 3, 8,
     schemas, file_default_instances, TableStruct_component_2fgripper_2fv1_2fgripper_2eproto::offsets,