RSDK-11037 Add geometries to sensor component by ale7714 · Pull Request #159 · viamrobotics/viam-java-sdk

Ale Paredes (ale7714) · 2026-06-18T17:48:15Z

Summary

Part of the effort to expose geometries on every component that supports it (alongside DoCommand).

In the Java SDK, every component whose API defines a GetGeometries RPC already implemented getGeometries on both its RPC client and RPC service — except sensor, whose SensorRPCClient and SensorRPCService were missing the override (the service file even had leftover, unused geometry imports from a copy of the movement sensor).

This PR fills that gap so sensor is consistent with the other components (arm, base, board, camera, encoder, gantry, generic, gripper, motor, movement sensor, pose tracker, servo, audio input, …).

Note: button, power_sensor, and switch are intentionally untouched — their APIs do not define a GetGeometries RPC.

Changes

SensorRPCClient: implement getGeometries(Optional<Struct> extra), calling the GetGeometries RPC and returning the geometries list.
SensorRPCService: implement the getGeometries server handler, delegating to the resource (matching MovementSensorRPCService).
Add SensorRPCClientTest and SensorRPCServiceTest (the sensor component previously had no tests), covering getGeometries, getReadings, and doCommand.

Testing

./gradlew :core:viam-core-sdk:test passes locally, including the new sensor tests.

Key: RSDK-11037

Co-authored by Claude agent for Jira.

The sensor component was the only component with a GetGeometries RPC in the API that did not expose getGeometries through its RPC client and RPC service. Implement the client and server handlers following the existing pattern (e.g. movement sensor) and add unit tests.

Deleted user (ghost) · 2026-06-23T15:10:28Z

Hey Ale Paredes (@ale7714) — this PR has been approved and CI has been green for 3+ business days. Ready to merge?