RSDK-11037 Add geometries to sensor component#159
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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.
Ale Paredes (ale7714)
requested review from
Allison Chiang (allisonschiang) and
Ethan (stuqdog)
Ethan (stuqdog)
approved these changes
Jun 22, 2026
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Summary
Part of the effort to expose
geometrieson every component that supports it (alongsideDoCommand).In the Java SDK, every component whose API defines a
GetGeometriesRPC already implementedgetGeometrieson both its RPC client and RPC service — exceptsensor, whoseSensorRPCClientandSensorRPCServicewere 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
sensoris consistent with the other components (arm, base, board, camera, encoder, gantry, generic, gripper, motor, movement sensor, pose tracker, servo, audio input, …).Changes
SensorRPCClient: implementgetGeometries(Optional<Struct> extra), calling theGetGeometriesRPC and returning the geometries list.SensorRPCService: implement thegetGeometriesserver handler, delegating to the resource (matchingMovementSensorRPCService).SensorRPCClientTestandSensorRPCServiceTest(the sensor component previously had no tests), coveringgetGeometries,getReadings, anddoCommand.Testing
./gradlew :core:viam-core-sdk:testpasses locally, including the new sensor tests.Key: RSDK-11037
Co-authored by Claude agent for Jira.