From c4738034e1c7b57f9bf6b3a097906eeeb2666a68 Mon Sep 17 00:00:00 2001
From: randhid <35934754+randhid@users.noreply.github.com>
Date: Mon, 27 Jan 2025 15:16:03 -0500
Subject: [PATCH] Add generic and gripper `FromDependencies` methods (#4747)

---
 components/generic/generic.go | 6 ++++++
 components/gripper/gripper.go | 6 ++++++
 2 files changed, 12 insertions(+)

diff --git a/components/generic/generic.go b/components/generic/generic.go
index 218b6fe5158..99cb60acbac 100644
--- a/components/generic/generic.go
+++ b/components/generic/generic.go
@@ -31,6 +31,12 @@ func Named(name string) resource.Name {
 	return resource.NewName(API, name)
 }
 
+// FromDependencies is a helper for getting the named generic from a collection of
+// dependencies.
+func FromDependencies(deps resource.Dependencies, name string) (resource.Resource, error) {
+	return resource.FromDependencies[resource.Resource](deps, Named(name))
+}
+
 // FromRobot is a helper for getting the named Generic from the given Robot.
 func FromRobot(r robot.Robot, name string) (resource.Resource, error) {
 	return robot.ResourceFromRobot[resource.Resource](r, Named(name))
diff --git a/components/gripper/gripper.go b/components/gripper/gripper.go
index d2e8450c2fd..74d373b69ff 100644
--- a/components/gripper/gripper.go
+++ b/components/gripper/gripper.go
@@ -79,6 +79,12 @@ func FromRobot(r robot.Robot, name string) (Gripper, error) {
 	return robot.ResourceFromRobot[Gripper](r, Named(name))
 }
 
+// FromDependencies is a helper for getting the named gripper from a collection of
+// dependencies.
+func FromDependencies(deps resource.Dependencies, name string) (Gripper, error) {
+	return resource.FromDependencies[Gripper](deps, Named(name))
+}
+
 // NamesFromRobot is a helper for getting all gripper names from the given Robot.
 func NamesFromRobot(r robot.Robot) []string {
 	return robot.NamesByAPI(r, API)