diff --git a/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCClient.java b/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCClient.java
index e48701c5b..a656b82fb 100644
--- a/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCClient.java
+++ b/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCClient.java
@@ -3,12 +3,14 @@
 import com.google.protobuf.Struct;
 import com.google.protobuf.Value;
 import com.viam.common.v1.Common;
+import com.viam.common.v1.Common.GetGeometriesRequest;
 import com.viam.common.v1.Common.GetReadingsRequest;
 import com.viam.common.v1.Common.GetReadingsResponse;
 import com.viam.component.sensor.v1.SensorServiceGrpc;
 
 import com.viam.sdk.core.rpc.Channel;
 
+import java.util.List;
 import java.util.Map;
 import java.util.Optional;
 
@@ -40,4 +42,12 @@ public GetReadingsResponse getReadings(final Optional<Struct> extra) {
         extra.ifPresent(builder::setExtra);
         return client.getReadings(builder.build());
     }
+
+    @Override
+    public List<Common.Geometry> getGeometries(final Optional<Struct> extra) {
+        final GetGeometriesRequest.Builder builder = Common.GetGeometriesRequest.newBuilder().
+                setName(getName().getName());
+        extra.ifPresent(builder::setExtra);
+        return client.getGeometries(builder.build()).getGeometriesList();
+    }
 }
diff --git a/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCService.java b/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCService.java
index d81052f3b..9ec26ac14 100644
--- a/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCService.java
+++ b/core/sdk/src/main/java/com/viam/sdk/core/component/sensor/SensorRPCService.java
@@ -65,6 +65,17 @@ public void getReadings(GetReadingsRequest request,
         responseObserver.onCompleted();
     }
 
+    @Override
+    public void getGeometries(Common.GetGeometriesRequest request,
+                              StreamObserver<GetGeometriesResponse> responseObserver) {
+        final com.viam.sdk.core.component.sensor.Sensor sensor = getResource(
+                com.viam.sdk.core.component.sensor.Sensor.named(request.getName())
+        );
+        final List<Geometry> result = sensor.getGeometries(Optional.of(request.getExtra()));
+        responseObserver.onNext(GetGeometriesResponse.newBuilder().addAllGeometries(result).build());
+        responseObserver.onCompleted();
+    }
+
     @Override
     public Class<Sensor> getResourceClass() {
         return Sensor.class;
diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/sensor/SensorRPCClientTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/sensor/SensorRPCClientTest.kt
new file mode 100644
index 000000000..ea57334ea
--- /dev/null
+++ b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/sensor/SensorRPCClientTest.kt
@@ -0,0 +1,68 @@
+package com.viam.sdk.core.component.sensor
+
+import com.google.protobuf.Struct
+import com.google.protobuf.Value
+import com.viam.common.v1.Common.Geometry
+import com.viam.common.v1.Common.GetReadingsResponse
+import com.viam.sdk.core.resource.ResourceManager
+import com.viam.sdk.core.rpc.BasicManagedChannel
+import io.grpc.inprocess.InProcessChannelBuilder
+import io.grpc.inprocess.InProcessServerBuilder
+import io.grpc.testing.GrpcCleanupRule
+import org.junit.Rule
+import org.junit.jupiter.api.Assertions.assertEquals
+import org.junit.jupiter.api.BeforeEach
+import org.junit.jupiter.api.Test
+import org.mockito.Mockito.*
+import java.util.*
+
+class SensorRPCClientTest {
+    private lateinit var sensor: Sensor
+    private lateinit var client: SensorRPCClient
+
+    @JvmField
+    @Rule
+    val grpcCleanupRule: GrpcCleanupRule = GrpcCleanupRule()
+
+    @BeforeEach
+    fun setup() {
+        sensor = mock(
+            Sensor::class.java, withSettings().useConstructor("mock-sensor").defaultAnswer(
+                CALLS_REAL_METHODS
+            )
+        )
+        val resourceManager = ResourceManager(listOf(sensor))
+        val service = SensorRPCService(resourceManager)
+        val serviceName = InProcessServerBuilder.generateName()
+        grpcCleanupRule.register(
+            InProcessServerBuilder.forName(serviceName).directExecutor().addService(service).build().start()
+        )
+        val channel = grpcCleanupRule.register(InProcessChannelBuilder.forName(serviceName).directExecutor().build())
+        client = SensorRPCClient("mock-sensor", BasicManagedChannel(channel))
+    }
+
+    @Test
+    fun getGeometries() {
+        doReturn(listOf<Geometry>()).`when`(sensor).getGeometries(any())
+        client.getGeometries(Optional.empty())
+        verify(sensor).getGeometries(any())
+    }
+
+    @Test
+    fun getReadings() {
+        val readings = mapOf("foo" to Value.newBuilder().setStringValue("bar").build())
+        doReturn(GetReadingsResponse.newBuilder().putAllReadings(readings).build()).`when`(sensor).getReadings(any())
+        val response = client.getReadings(Optional.empty())
+        verify(sensor).getReadings(any())
+        assertEquals(readings, response.readingsMap)
+    }
+
+    @Test
+    fun doCommand() {
+        val command = mapOf("foo" to Value.newBuilder().setStringValue("bar").build())
+        doReturn(Struct.newBuilder().putAllFields(command).build()).`when`(sensor).doCommand(anyMap())
+        val response = client.doCommand(command)
+        verify(sensor).doCommand(command)
+        assertEquals(command, response.fieldsMap)
+    }
+}
diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/sensor/SensorRPCServiceTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/sensor/SensorRPCServiceTest.kt
new file mode 100644
index 000000000..ac34965a1
--- /dev/null
+++ b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/sensor/SensorRPCServiceTest.kt
@@ -0,0 +1,79 @@
+package com.viam.sdk.core.component.sensor
+
+import com.google.protobuf.Struct
+import com.google.protobuf.Value
+import com.viam.common.v1.Common
+import com.viam.common.v1.Common.Geometry
+import com.viam.common.v1.Common.GetReadingsRequest
+import com.viam.common.v1.Common.GetReadingsResponse
+import com.viam.component.sensor.v1.SensorServiceGrpc
+import com.viam.component.sensor.v1.SensorServiceGrpc.SensorServiceBlockingStub
+import com.viam.sdk.core.resource.ResourceManager
+import io.grpc.inprocess.InProcessChannelBuilder
+import io.grpc.inprocess.InProcessServerBuilder
+import io.grpc.testing.GrpcCleanupRule
+import org.junit.Rule
+import org.junit.jupiter.api.Assertions.assertEquals
+import org.junit.jupiter.api.BeforeEach
+import org.junit.jupiter.api.Test
+import org.mockito.Mockito.*
+import java.util.*
+
+class SensorRPCServiceTest {
+    private lateinit var sensor: Sensor
+    private lateinit var client: SensorServiceBlockingStub
+
+    @JvmField
+    @Rule
+    val grpcCleanupRule: GrpcCleanupRule = GrpcCleanupRule()
+
+    @BeforeEach
+    fun setup() {
+        sensor = mock(
+            Sensor::class.java, withSettings().useConstructor("mock-sensor").defaultAnswer(
+                CALLS_REAL_METHODS
+            )
+        )
+
+        val resourceManager = ResourceManager(listOf(sensor))
+        val service = SensorRPCService(resourceManager)
+        val serviceName = InProcessServerBuilder.generateName()
+        grpcCleanupRule.register(
+            InProcessServerBuilder.forName(serviceName).directExecutor().addService(service).build().start()
+        )
+        client = SensorServiceGrpc.newBlockingStub(
+            grpcCleanupRule.register(
+                InProcessChannelBuilder.forName(serviceName).build()
+            )
+        )
+    }
+
+    @Test
+    fun getGeometries() {
+        doReturn(listOf<Geometry>()).`when`(sensor).getGeometries(any())
+        val request = Common.GetGeometriesRequest.newBuilder().setName(sensor.name.name).build()
+        client.getGeometries(request)
+        verify(sensor).getGeometries(Optional.of(Struct.getDefaultInstance()))
+    }
+
+    @Test
+    fun getReadings() {
+        val readings = mapOf("foo" to Value.newBuilder().setStringValue("bar").build())
+        doReturn(GetReadingsResponse.newBuilder().putAllReadings(readings).build()).`when`(sensor).getReadings(any())
+        val request = GetReadingsRequest.newBuilder().setName(sensor.name.name).build()
+        val response = client.getReadings(request)
+        verify(sensor).getReadings(Optional.of(Struct.getDefaultInstance()))
+        assertEquals(readings, response.readingsMap)
+    }
+
+    @Test
+    fun doCommand() {
+        val command =
+            Struct.newBuilder().putAllFields(mapOf("foo" to Value.newBuilder().setStringValue("bar").build())).build()
+        doReturn(command).`when`(sensor).doCommand(anyMap())
+        val request = Common.DoCommandRequest.newBuilder().setName(sensor.name.name).setCommand(command).build()
+        val response = client.doCommand(request)
+        verify(sensor).doCommand(command.fieldsMap)
+        assertEquals(command, response.result)
+    }
+}