diff --git a/examples/server/v1/components.py b/examples/server/v1/components.py
index 4f2f71c43..fe8e72bca 100644
--- a/examples/server/v1/components.py
+++ b/examples/server/v1/components.py
@@ -39,19 +39,27 @@
 from viam.proto.common import (
     AnalogStatus,
     BoardStatus,
+    Capsule,
     DigitalInterruptStatus,
+    Geometry,
     GeoPoint,
     KinematicsFileFormat,
     Orientation,
     Pose,
     PoseInFrame,
-    Vector3,
     ResponseMetadata,
+    Sphere,
+    Vector3,
 )
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo, SampleFormat
 from viam.proto.component.encoder import PositionType
 
+GEOMETRIES = [
+    Geometry(center=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20), sphere=Sphere(radius_mm=2)),
+    Geometry(center=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20), capsule=Capsule(radius_mm=3, length_mm=8)),
+]
+
 
 class ExampleArm(Arm):
     def __init__(self, name: str):
@@ -97,6 +105,9 @@ async def is_moving(self):
     async def get_kinematics(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
         return self.kinematics
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleAudioInput(AudioInput):
     def __init__(self, name: str):
@@ -160,6 +171,9 @@ async def get_properties(self) -> AudioInput.Properties:
             is_interleaved=True,
         )
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleBase(Base):
     def __init__(self, name: str):
@@ -212,6 +226,9 @@ async def is_moving(self):
     async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) -> Base.Properties:
         return self.props
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleAnalogReader(Board.AnalogReader):
     def __init__(self, name: str, value: int):
@@ -321,6 +338,9 @@ async def model_attributes(self) -> Board.Attributes:
     async def set_power_mode(self, **kwargs):
         raise NotImplementedError()
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleCamera(Camera):
     def __init__(self, name: str):
@@ -343,6 +363,9 @@ async def get_point_cloud(self, **kwargs) -> Tuple[bytes, str]:
     async def get_properties(self, **kwargs) -> Camera.Properties:
         raise NotImplementedError()
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleController(Controller):
     CONTROL_MAP: Dict[int, Control] = {
@@ -448,6 +471,9 @@ def register_control_callback(self, control: Control, triggers: List[EventType],
                     callbacks[trigger] = function
             self.callbacks[control] = callbacks
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleEncoder(Encoder):
     def __init__(self, name: str):
@@ -468,6 +494,9 @@ async def get_position(
     async def get_properties(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> Encoder.Properties:
         return Encoder.Properties(ticks_count_supported=True, angle_degrees_supported=False)
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleGantry(Gantry):
     def __init__(self, name: str, position: List[float], lengths: List[float]):
@@ -501,6 +530,9 @@ async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
     async def is_moving(self):
         return not self.is_stopped
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleGripper(Gripper):
     def __init__(self, name: str):
@@ -523,6 +555,9 @@ async def stop(self, extra: Optional[Dict[str, Any]] = None, **kwargs):
     async def is_moving(self):
         return not self.is_stopped
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleMotor(Motor):
     def __init__(self, name: str):
@@ -596,6 +631,9 @@ async def is_powered(self, extra: Optional[Dict[str, Any]] = None, **kwargs) ->
     async def is_moving(self):
         return self.powered
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleMovementSensor(MovementSensor):
     def __init__(
@@ -646,6 +684,9 @@ async def get_properties(self, **kwargs) -> MovementSensor.Properties:
     async def get_accuracy(self, **kwargs) -> Mapping[str, float]:
         return self.accuracy
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExamplePoseTracker(PoseTracker):
     async def get_poses(self, body_names: List[str], **kwargs) -> Dict[str, PoseInFrame]:
@@ -655,6 +696,9 @@ async def get_poses(self, body_names: List[str], **kwargs) -> Dict[str, PoseInFr
         }
         return {k: v for k, v in all_poses.items() if k in body_names}
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleSensor(Sensor):
     def __init__(self, name: str):
@@ -664,6 +708,9 @@ def __init__(self, name: str):
     async def get_readings(self, **kwargs) -> Mapping[str, Any]:
         return {"abcdefghij"[idx]: random.random() for idx in range(self.num_readings)}
 
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
+
 
 class ExampleServo(Servo):
     def __init__(self, name: str):
@@ -683,3 +730,6 @@ async def stop(self, **kwargs):
 
     async def is_moving(self):
         return not self.is_stopped
+
+    async def get_geometries(self, extra: Optional[Dict[str, Any]] = None, **kwargs) -> List[Geometry]:
+        return GEOMETRIES
diff --git a/src/viam/components/arm/__init__.py b/src/viam/components/arm/__init__.py
index 8e38680fa..bf9a7d765 100644
--- a/src/viam/components/arm/__init__.py
+++ b/src/viam/components/arm/__init__.py
@@ -1,6 +1,6 @@
 import asyncio
 
-from viam.proto.common import KinematicsFileFormat, Pose
+from viam.proto.common import Geometry, KinematicsFileFormat, Pose
 from viam.proto.component.arm import JointPositions
 from viam.proto.component.arm import Status as ArmStatus
 from viam.proto.robot import Status
@@ -13,6 +13,7 @@
 
 __all__ = [
     "Arm",
+    "Geometry",
     "JointPositions",
     "KinematicsFileFormat",
     "Pose",
@@ -20,11 +21,7 @@
 
 
 async def create_status(component: Arm) -> Status:
-    (
-        end_position,
-        joint_positions,
-        is_moving,
-    ) = await asyncio.gather(
+    (end_position, joint_positions, is_moving,) = await asyncio.gather(
         component.get_end_position(),
         component.get_joint_positions(),
         component.is_moving(),
diff --git a/src/viam/components/arm/arm.py b/src/viam/components/arm/arm.py
index 44c28f9c2..1d72a7273 100644
--- a/src/viam/components/arm/arm.py
+++ b/src/viam/components/arm/arm.py
@@ -1,10 +1,10 @@
 import abc
-from typing import Any, Dict, Final, Optional, Tuple
+from typing import Any, Dict, Final, List, Optional, Tuple
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import JointPositions, KinematicsFileFormat, Pose
+from . import Geometry, JointPositions, KinematicsFileFormat, Pose
 
 
 class Arm(ComponentBase):
@@ -122,3 +122,13 @@ async def get_kinematics(
                 - bytes: The byte contents of the file.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the arm, in their current configuration, in the frame of the arm.
+
+        Returns:
+            List[Geometry]: The geometries associated with the arm.
+        """
+        ...
diff --git a/src/viam/components/arm/client.py b/src/viam/components/arm/client.py
index 5fc82e3fa..0b4022e7c 100644
--- a/src/viam/components/arm/client.py
+++ b/src/viam/components/arm/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Dict, Mapping, Optional, Tuple
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
@@ -17,9 +17,9 @@
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
-from . import Arm, KinematicsFileFormat, Pose
+from . import Arm, Geometry, KinematicsFileFormat, Pose
 
 
 class ArmClient(Arm, ReconfigurableResourceRPCClientBase):
@@ -116,3 +116,6 @@ async def get_kinematics(
         request = GetKinematicsRequest(name=self.name, extra=dict_to_struct(extra))
         response: GetKinematicsResponse = await self.client.GetKinematics(request, timeout=timeout)
         return (response.format, response.kinematics_data)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/arm/service.py b/src/viam/components/arm/service.py
index 0bea8fb45..c061169ef 100644
--- a/src/viam/components/arm/service.py
+++ b/src/viam/components/arm/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import (
     DoCommandRequest,
     DoCommandResponse,
@@ -115,4 +114,10 @@ async def GetKinematics(self, stream: Stream[GetKinematicsRequest, GetKinematics
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/audio_input/__init__.py b/src/viam/components/audio_input/__init__.py
index 457fa34c9..2de28a3b8 100644
--- a/src/viam/components/audio_input/__init__.py
+++ b/src/viam/components/audio_input/__init__.py
@@ -1,3 +1,4 @@
+from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .audio_input import AudioInput
@@ -6,6 +7,7 @@
 
 __all__ = [
     "AudioInput",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/audio_input/audio_input.py b/src/viam/components/audio_input/audio_input.py
index 6908a5a7f..c79fd5948 100644
--- a/src/viam/components/audio_input/audio_input.py
+++ b/src/viam/components/audio_input/audio_input.py
@@ -1,7 +1,7 @@
 import abc
 from dataclasses import dataclass
 from datetime import timedelta
-from typing import Final, Optional
+from typing import Final, List, Optional
 
 from google.protobuf.duration_pb2 import Duration
 from typing_extensions import Self
@@ -12,6 +12,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class AudioInput(ComponentBase, MediaSource[Audio]):
@@ -77,3 +78,13 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
             Properties: The audio input properties
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the audio input, in their current configuration, in the frame of the audio input.
+
+        Returns:
+            List[Geometry]: The geometries associated with the audio input.
+        """
+        ...
diff --git a/src/viam/components/audio_input/client.py b/src/viam/components/audio_input/client.py
index 80ad059c4..6706f7064 100644
--- a/src/viam/components/audio_input/client.py
+++ b/src/viam/components/audio_input/client.py
@@ -1,4 +1,4 @@
-from typing import AsyncIterator, Mapping, Optional, Union
+from typing import Any, AsyncIterator, Dict, List, Mapping, Optional, Union
 
 from grpclib.client import Channel
 
@@ -14,9 +14,9 @@
     SampleFormat,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
-from .audio_input import AudioInput
+from .audio_input import AudioInput, Geometry
 
 
 class AudioInputClient(AudioInput, ReconfigurableResourceRPCClientBase):
@@ -58,3 +58,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/audio_input/service.py b/src/viam/components/audio_input/service.py
index 7838a75ff..5f0fab4f6 100644
--- a/src/viam/components/audio_input/service.py
+++ b/src/viam/components/audio_input/service.py
@@ -6,7 +6,7 @@
 from grpclib import GRPCError, Status
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError, NotSupportedError
+from viam.errors import NotSupportedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.audioinput import (
     AudioInputServiceBase,
@@ -105,4 +105,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        audio_input = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await audio_input.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/base/__init__.py b/src/viam/components/base/__init__.py
index da87de085..e847676e4 100644
--- a/src/viam/components/base/__init__.py
+++ b/src/viam/components/base/__init__.py
@@ -1,4 +1,4 @@
-from viam.proto.common import ActuatorStatus, Vector3
+from viam.proto.common import ActuatorStatus, Geometry, Vector3
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
@@ -7,7 +7,11 @@
 from .client import BaseClient
 from .service import BaseRPCService
 
-__all__ = ["Base", "Vector3"]
+__all__ = [
+    "Base",
+    "Geometry",
+    "Vector3",
+]
 
 
 async def create_status(component: Base) -> Status:
diff --git a/src/viam/components/base/base.py b/src/viam/components/base/base.py
index 2189c653f..6662c2f35 100644
--- a/src/viam/components/base/base.py
+++ b/src/viam/components/base/base.py
@@ -1,11 +1,11 @@
 import abc
 from dataclasses import dataclass
-from typing import Any, Dict, Final, Optional
+from typing import Any, Dict, Final, List, Optional
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import Vector3
+from . import Geometry, Vector3
 
 
 class Base(ComponentBase):
@@ -148,3 +148,13 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
             Properties: The properties of the base
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the base, in their current configuration, in the frame of the base.
+
+        Returns:
+            List[Geometry]: The geometries associated with the base.
+        """
+        ...
diff --git a/src/viam/components/base/client.py b/src/viam/components/base/client.py
index 32771d4cd..4e72c7e5e 100644
--- a/src/viam/components/base/client.py
+++ b/src/viam/components/base/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Dict, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -16,9 +16,9 @@
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
-from . import Base, Vector3
+from . import Base, Geometry, Vector3
 
 
 class BaseClient(Base, ReconfigurableResourceRPCClientBase):
@@ -130,3 +130,6 @@ async def do_command(
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/base/service.py b/src/viam/components/base/service.py
index daf40362d..7b4ac06dc 100644
--- a/src/viam/components/base/service.py
+++ b/src/viam/components/base/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.base import (
     BaseServiceBase,
@@ -126,4 +125,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        base = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await base.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/board/__init__.py b/src/viam/components/board/__init__.py
index 3094c870a..57ee54551 100644
--- a/src/viam/components/board/__init__.py
+++ b/src/viam/components/board/__init__.py
@@ -1,3 +1,4 @@
+from viam.proto.common import Geometry
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
@@ -8,6 +9,7 @@
 
 __all__ = [
     "Board",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/board/board.py b/src/viam/components/board/board.py
index 05fb792a0..cdd5e90c8 100644
--- a/src/viam/components/board/board.py
+++ b/src/viam/components/board/board.py
@@ -9,6 +9,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 PostProcessor = Callable[[int], int]
 
@@ -262,3 +263,13 @@ async def set_power_mode(
         Args:
             mode: the desired power mode
         """
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the board, in their current configuration, in the frame of the board.
+
+        Returns:
+            List[Geometry]: The geometries associated with the board.
+        """
+        ...
diff --git a/src/viam/components/board/client.py b/src/viam/components/board/client.py
index eb677e9a6..8522632e0 100644
--- a/src/viam/components/board/client.py
+++ b/src/viam/components/board/client.py
@@ -27,9 +27,10 @@
     StatusResponse,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
-from .board import Board, PostProcessor
+from .board import PostProcessor
+from . import Board, Geometry
 
 
 class AnalogReaderClient(Board.AnalogReader):
@@ -174,3 +175,6 @@ async def set_power_mode(
             duration_pb = [(d, d.FromTimedelta(duration)) for d in [Duration()]][0][0]
         request = SetPowerModeRequest(name=self.name, power_mode=mode, duration=duration_pb)
         await self.client.SetPowerMode(request, timeout=timeout)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/board/service.py b/src/viam/components/board/service.py
index 42a9e6b57..5cf409b20 100644
--- a/src/viam/components/board/service.py
+++ b/src/viam/components/board/service.py
@@ -1,6 +1,6 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError, ResourceNotFoundError
+from viam.errors import ResourceNotFoundError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.board import (
     BoardServiceBase,
@@ -185,4 +185,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/camera/__init__.py b/src/viam/components/camera/__init__.py
index 6e3e2f736..a3147c2ff 100644
--- a/src/viam/components/camera/__init__.py
+++ b/src/viam/components/camera/__init__.py
@@ -1,4 +1,5 @@
 from viam.media.video import RawImage
+from viam.proto.common import Geometry
 from viam.proto.component.camera import DistortionParameters, IntrinsicParameters
 from viam.resource.registry import Registry, ResourceRegistration
 
@@ -8,6 +9,7 @@
 
 __all__ = [
     "Camera",
+    "Geometry",
     "IntrinsicParameters",
     "DistortionParameters",
     "RawImage",
diff --git a/src/viam/components/camera/camera.py b/src/viam/components/camera/camera.py
index 23f0e6ee3..42c0dfdfb 100644
--- a/src/viam/components/camera/camera.py
+++ b/src/viam/components/camera/camera.py
@@ -8,7 +8,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
-from . import DistortionParameters, IntrinsicParameters, RawImage
+from . import DistortionParameters, Geometry, IntrinsicParameters, RawImage
 
 
 class Camera(ComponentBase):
@@ -103,3 +103,13 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
             Properties: The properties of the camera
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the camera, in their current configuration, in the frame of the camera.
+
+        Returns:
+            List[Geometry]: The geometries associated with the camera.
+        """
+        ...
diff --git a/src/viam/components/camera/client.py b/src/viam/components/camera/client.py
index c3c76942b..9c8b74dc1 100644
--- a/src/viam/components/camera/client.py
+++ b/src/viam/components/camera/client.py
@@ -1,5 +1,5 @@
 from io import BytesIO
-from typing import List, Mapping, Optional, Tuple, Union
+from typing import Any, Dict, List, Mapping, Optional, Tuple, Union
 
 from grpclib.client import Channel
 from PIL import Image
@@ -18,9 +18,9 @@
     GetPropertiesResponse,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
-from . import Camera, RawImage
+from . import Camera, Geometry, RawImage
 
 
 def get_image_from_response(data: bytes, response_mime_type: str, request_mime_type: Optional[str] = None) -> Union[Image.Image, RawImage]:
@@ -72,3 +72,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/camera/service.py b/src/viam/components/camera/service.py
index d4b0a75ed..6bed86d31 100644
--- a/src/viam/components/camera/service.py
+++ b/src/viam/components/camera/service.py
@@ -3,7 +3,6 @@
 from google.api.httpbody_pb2 import HttpBody
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.media.video import CameraMimeType
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.camera import (
@@ -135,4 +134,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        camera = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await camera.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/component_base.py b/src/viam/components/component_base.py
index c052f71f9..ddc5d9fec 100644
--- a/src/viam/components/component_base.py
+++ b/src/viam/components/component_base.py
@@ -3,6 +3,7 @@
 
 from typing_extensions import Self
 
+from viam.proto.common import Geometry
 from viam.resource.base import ResourceBase
 
 if TYPE_CHECKING:
@@ -40,3 +41,6 @@ def from_robot(cls, robot: "RobotClient", name: str) -> Self:
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         raise NotImplementedError()
+
+    async def get_geometries(self) -> List[Geometry]:
+        raise NotImplementedError()
diff --git a/src/viam/components/encoder/__init__.py b/src/viam/components/encoder/__init__.py
index c885d409b..c67563b27 100644
--- a/src/viam/components/encoder/__init__.py
+++ b/src/viam/components/encoder/__init__.py
@@ -1,3 +1,4 @@
+from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import EncoderClient
@@ -6,6 +7,7 @@
 
 __all__ = [
     "Encoder",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/encoder/client.py b/src/viam/components/encoder/client.py
index 59be7c86a..dd6d07e43 100644
--- a/src/viam/components/encoder/client.py
+++ b/src/viam/components/encoder/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Dict, Mapping, Optional, Tuple
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
@@ -13,9 +13,10 @@
     ResetPositionRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .encoder import Encoder
+from . import Geometry
 
 
 class EncoderClient(Encoder, ReconfigurableResourceRPCClientBase):
@@ -70,3 +71,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/encoder/encoder.py b/src/viam/components/encoder/encoder.py
index 29ecee9ca..209525469 100644
--- a/src/viam/components/encoder/encoder.py
+++ b/src/viam/components/encoder/encoder.py
@@ -1,11 +1,12 @@
 import abc
 from dataclasses import dataclass
-from typing import Any, Dict, Final, Optional, Tuple
+from typing import Any, Dict, Final, List, Optional, Tuple
 
 from viam.proto.component.encoder import PositionType
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class Encoder(ComponentBase):
@@ -77,3 +78,13 @@ async def get_properties(
             Encoder.Properties: Map of position types to supported status.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the encoder, in their current configuration, in the frame of the encoder.
+
+        Returns:
+            List[Geometry]: The geometries associated with the encoder.
+        """
+        ...
diff --git a/src/viam/components/encoder/service.py b/src/viam/components/encoder/service.py
index b5e654bda..2a6de4ddc 100644
--- a/src/viam/components/encoder/service.py
+++ b/src/viam/components/encoder/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.encoder import (
     EncoderServiceBase,
@@ -64,4 +63,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/gantry/__init__.py b/src/viam/components/gantry/__init__.py
index 36453d20d..442f9d9d5 100644
--- a/src/viam/components/gantry/__init__.py
+++ b/src/viam/components/gantry/__init__.py
@@ -1,5 +1,6 @@
 import asyncio
 
+from viam.proto.common import Geometry
 from viam.proto.component.gantry import Status as GantryStatus
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
@@ -11,6 +12,7 @@
 
 __all__ = [
     "Gantry",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/gantry/client.py b/src/viam/components/gantry/client.py
index 4104cfa8a..939efb30b 100644
--- a/src/viam/components/gantry/client.py
+++ b/src/viam/components/gantry/client.py
@@ -17,9 +17,10 @@
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .gantry import Gantry
+from . import Geometry
 
 
 class GantryClient(Gantry, ReconfigurableResourceRPCClientBase):
@@ -81,3 +82,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/gantry/gantry.py b/src/viam/components/gantry/gantry.py
index 2f990c991..1094a6169 100644
--- a/src/viam/components/gantry/gantry.py
+++ b/src/viam/components/gantry/gantry.py
@@ -4,6 +4,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class Gantry(ComponentBase):
@@ -81,3 +82,13 @@ async def is_moving(self) -> bool:
             bool: Whether the gantry is moving.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the gantry, in their current configuration, in the frame of the gantry.
+
+        Returns:
+            List[Geometry]: The geometries associated with the gantry.
+        """
+        ...
diff --git a/src/viam/components/gantry/service.py b/src/viam/components/gantry/service.py
index 22de40173..c4a189b56 100644
--- a/src/viam/components/gantry/service.py
+++ b/src/viam/components/gantry/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.gantry import (
     GantryServiceBase,
@@ -105,4 +104,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/generic/__init__.py b/src/viam/components/generic/__init__.py
index a199d1af7..6abc4a402 100644
--- a/src/viam/components/generic/__init__.py
+++ b/src/viam/components/generic/__init__.py
@@ -1,4 +1,5 @@
 import viam.gen.component.generic.v1.generic_pb2  # Need this import for Generic service descriptors to resolve
+from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import GenericClient
@@ -7,6 +8,7 @@
 
 __all__ = [
     "Generic",
+    "Geometry",
 ]
 
 Registry.register_subtype(
diff --git a/src/viam/components/generic/client.py b/src/viam/components/generic/client.py
index e227bda5d..104db4043 100644
--- a/src/viam/components/generic/client.py
+++ b/src/viam/components/generic/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib import GRPCError, Status
 from grpclib.client import Channel
@@ -6,9 +6,10 @@
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.generic import GenericServiceStub
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .generic import Generic
+from . import Geometry
 
 
 class GenericClient(Generic, ReconfigurableResourceRPCClientBase):
@@ -31,6 +32,9 @@ async def do_command(self, command: Mapping[str, Any], *, timeout: Optional[floa
 
         return struct_to_dict(response.result)
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
+
 
 async def do_command(
     channel: Channel, name: str, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None
diff --git a/src/viam/components/generic/generic.py b/src/viam/components/generic/generic.py
index eabc2331d..4dca7da31 100644
--- a/src/viam/components/generic/generic.py
+++ b/src/viam/components/generic/generic.py
@@ -1,8 +1,10 @@
-from typing import Final
+import abc
+from typing import Final, List
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class Generic(ComponentBase):
@@ -66,3 +68,13 @@ def complex_command(self, arg1, arg2, arg3):
     """
 
     SUBTYPE: Final = Subtype(RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, "generic")
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the generic component, in their current configuration, in the frame of the generic component.
+
+        Returns:
+            List[Geometry]: The geometries associated with the generic component.
+        """
+        ...
diff --git a/src/viam/components/generic/service.py b/src/viam/components/generic/service.py
index 77b5b1e96..e8c60ea59 100644
--- a/src/viam/components/generic/service.py
+++ b/src/viam/components/generic/service.py
@@ -2,7 +2,6 @@
 from grpclib.server import Stream
 
 from viam.components.component_base import ComponentBase
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.generic import GenericServiceBase
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
@@ -32,4 +31,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        component = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await component.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/gripper/__init__.py b/src/viam/components/gripper/__init__.py
index 7b8cd9df4..ab58d004d 100644
--- a/src/viam/components/gripper/__init__.py
+++ b/src/viam/components/gripper/__init__.py
@@ -1,5 +1,4 @@
-from viam.components.gantry.gantry import Gantry
-from viam.proto.common import ActuatorStatus
+from viam.proto.common import ActuatorStatus, Geometry
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
 from viam.utils import message_to_struct
@@ -10,6 +9,7 @@
 
 __all__ = [
     "Gripper",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/gripper/client.py b/src/viam/components/gripper/client.py
index 6b40298cd..50128686e 100644
--- a/src/viam/components/gripper/client.py
+++ b/src/viam/components/gripper/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Dict, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -13,9 +13,10 @@
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .gripper import Gripper
+from . import Geometry
 
 
 class GripperClient(Gripper, ReconfigurableResourceRPCClientBase):
@@ -56,3 +57,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/gripper/gripper.py b/src/viam/components/gripper/gripper.py
index 8c53114ed..c618f502b 100644
--- a/src/viam/components/gripper/gripper.py
+++ b/src/viam/components/gripper/gripper.py
@@ -1,9 +1,11 @@
 import abc
-from typing import Any, Dict, Final, Optional
+from typing import Any, Dict, Final, List, Optional
 
 from viam.components.component_base import ComponentBase
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
+from . import Geometry
+
 
 class Gripper(ComponentBase):
     """
@@ -67,3 +69,13 @@ async def is_moving(self) -> bool:
             bool: Whether the gripper is moving.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the gripper, in their current configuration, in the frame of the gripper.
+
+        Returns:
+            List[Geometry]: The geometries associated with the gripper.
+        """
+        ...
diff --git a/src/viam/components/gripper/service.py b/src/viam/components/gripper/service.py
index bdcce24bf..b589e4c40 100644
--- a/src/viam/components/gripper/service.py
+++ b/src/viam/components/gripper/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.gripper import (
     GrabRequest,
@@ -73,4 +72,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/input/__init__.py b/src/viam/components/input/__init__.py
index 41dcee24c..60df0ddca 100644
--- a/src/viam/components/input/__init__.py
+++ b/src/viam/components/input/__init__.py
@@ -1,3 +1,4 @@
+from viam.proto.common import Geometry
 from viam.proto.component.inputcontroller import Status as InputStatus
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
@@ -13,6 +14,7 @@
     "ControlFunction",
     "Event",
     "EventType",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/input/client.py b/src/viam/components/input/client.py
index 2c519c124..3d661c43f 100644
--- a/src/viam/components/input/client.py
+++ b/src/viam/components/input/client.py
@@ -22,9 +22,10 @@
     TriggerEventRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .input import Control, ControlFunction, Controller, Event, EventType
+from . import Geometry
 
 LOGGER = getLogger(__name__)
 
@@ -160,3 +161,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/input/input.py b/src/viam/components/input/input.py
index 92c2a3158..180c8a156 100644
--- a/src/viam/components/input/input.py
+++ b/src/viam/components/input/input.py
@@ -12,6 +12,8 @@
 from viam.proto.component.inputcontroller import Event as PBEvent
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
+from . import Geometry
+
 
 class EventType(str, Enum):
     """
@@ -192,3 +194,13 @@ async def trigger_event(self, event: Event, *, extra: Optional[Dict[str, Any]] =
             event (Event): The event to trigger
         """
         raise NotSupportedError(f"Input controller named {self.name} does not support triggering events")
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the input controller, in their current configuration, in the frame of the input controller.
+
+        Returns:
+            List[Geometry]: The geometries associated with the input.
+        """
+        ...
diff --git a/src/viam/components/input/service.py b/src/viam/components/input/service.py
index 651a5504e..17f81e52a 100644
--- a/src/viam/components/input/service.py
+++ b/src/viam/components/input/service.py
@@ -6,7 +6,7 @@
 from h2.exceptions import StreamClosedError
 
 import viam
-from viam.errors import MethodNotImplementedError, NotSupportedError
+from viam.errors import NotSupportedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.inputcontroller import (
     GetControlsRequest,
@@ -166,4 +166,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        arm = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await arm.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/motor/__init__.py b/src/viam/components/motor/__init__.py
index 5f6fb607b..bcdf8d34d 100644
--- a/src/viam/components/motor/__init__.py
+++ b/src/viam/components/motor/__init__.py
@@ -1,5 +1,6 @@
 import asyncio
 
+from viam.proto.common import Geometry
 from viam.proto.component.motor import Status as MotorStatus
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
@@ -11,6 +12,7 @@
 
 __all__ = [
     "Motor",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/motor/client.py b/src/viam/components/motor/client.py
index d630033a8..9bbd55318 100644
--- a/src/viam/components/motor/client.py
+++ b/src/viam/components/motor/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Dict, Mapping, Optional, Tuple
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
@@ -20,9 +20,10 @@
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .motor import Motor
+from . import Geometry
 
 
 class MotorClient(Motor, ReconfigurableResourceRPCClientBase):
@@ -141,3 +142,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/motor/motor.py b/src/viam/components/motor/motor.py
index 46c90acfc..213fed836 100644
--- a/src/viam/components/motor/motor.py
+++ b/src/viam/components/motor/motor.py
@@ -1,10 +1,11 @@
 import abc
 from dataclasses import dataclass
-from typing import Any, Dict, Final, Optional, Tuple
+from typing import Any, Dict, Final, List, Optional, Tuple
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class Motor(ComponentBase):
@@ -176,3 +177,13 @@ async def is_moving(self) -> bool:
             bool: Whether the motor is moving.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the motor, in their current configuration, in the frame of the motor.
+
+        Returns:
+            List[Geometry]: The geometries associated with the motor.
+        """
+        ...
diff --git a/src/viam/components/motor/service.py b/src/viam/components/motor/service.py
index cb432afec..26073b528 100644
--- a/src/viam/components/motor/service.py
+++ b/src/viam/components/motor/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.motor import (
     GetPositionRequest,
@@ -131,4 +130,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        motor = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await motor.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/movement_sensor/__init__.py b/src/viam/components/movement_sensor/__init__.py
index e934b5fc0..f74a62157 100644
--- a/src/viam/components/movement_sensor/__init__.py
+++ b/src/viam/components/movement_sensor/__init__.py
@@ -1,4 +1,4 @@
-from viam.proto.common import GeoPoint, Orientation, Vector3
+from viam.proto.common import Geometry, GeoPoint, Orientation, Vector3
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import MovementSensorClient
@@ -7,6 +7,7 @@
 
 __all__ = [
     "MovementSensor",
+    "Geometry",
     "GeoPoint",
     "Orientation",
     "Vector3",
diff --git a/src/viam/components/movement_sensor/client.py b/src/viam/components/movement_sensor/client.py
index a4a2a8d80..9fc32a8fd 100644
--- a/src/viam/components/movement_sensor/client.py
+++ b/src/viam/components/movement_sensor/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Dict, Mapping, Optional, Tuple
+from typing import Any, Dict, List, Mapping, Optional, Tuple
 
 from grpclib.client import Channel
 
@@ -24,9 +24,9 @@
     MovementSensorServiceStub,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
-from . import GeoPoint, Orientation, Vector3
+from . import Geometry, GeoPoint, Orientation, Vector3
 
 
 class MovementSensorClient(MovementSensor, ReconfigurableResourceRPCClientBase):
@@ -102,3 +102,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/movement_sensor/movement_sensor.py b/src/viam/components/movement_sensor/movement_sensor.py
index d0f778313..4487c4f18 100644
--- a/src/viam/components/movement_sensor/movement_sensor.py
+++ b/src/viam/components/movement_sensor/movement_sensor.py
@@ -11,7 +11,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..sensor import Sensor
-from . import GeoPoint, Orientation, Vector3
+from . import Geometry, GeoPoint, Orientation, Vector3
 
 
 class MovementSensor(Sensor):
@@ -182,3 +182,13 @@ def add_reading(name: str, reading, returntype: List) -> None:
         add_reading("orientation", orient, [Orientation])
 
         return readings
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the movement sensor, in their current configuration, in the frame of the movement sensor.
+
+        Returns:
+            List[Geometry]: The geometries associated with the movement sensor.
+        """
+        ...
diff --git a/src/viam/components/movement_sensor/service.py b/src/viam/components/movement_sensor/service.py
index 26c2e4991..f32c9c5c6 100644
--- a/src/viam/components/movement_sensor/service.py
+++ b/src/viam/components/movement_sensor/service.py
@@ -1,7 +1,6 @@
 from grpclib.server import Stream
 
 from viam.components.movement_sensor.movement_sensor import MovementSensor
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
@@ -122,4 +121,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        sensor = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await sensor.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/pose_tracker/__init__.py b/src/viam/components/pose_tracker/__init__.py
index 15c64bf45..ce816c0f4 100644
--- a/src/viam/components/pose_tracker/__init__.py
+++ b/src/viam/components/pose_tracker/__init__.py
@@ -1,3 +1,4 @@
+from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import PoseTrackerClient
@@ -6,6 +7,7 @@
 
 __all__ = [
     "PoseTracker",
+    "Geometry",
 ]
 
 Registry.register_subtype(
diff --git a/src/viam/components/pose_tracker/client.py b/src/viam/components/pose_tracker/client.py
index 52dffbaeb..38f01d26f 100644
--- a/src/viam/components/pose_tracker/client.py
+++ b/src/viam/components/pose_tracker/client.py
@@ -5,9 +5,10 @@
 from viam.proto.common import DoCommandRequest, DoCommandResponse, PoseInFrame
 from viam.proto.component.posetracker import GetPosesRequest, GetPosesResponse, PoseTrackerServiceStub
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .pose_tracker import PoseTracker
+from . import Geometry
 
 
 class PoseTrackerClient(PoseTracker, ReconfigurableResourceRPCClientBase):
@@ -37,3 +38,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/pose_tracker/pose_tracker.py b/src/viam/components/pose_tracker/pose_tracker.py
index 5518bcf42..c180b98de 100644
--- a/src/viam/components/pose_tracker/pose_tracker.py
+++ b/src/viam/components/pose_tracker/pose_tracker.py
@@ -5,6 +5,7 @@
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class PoseTracker(ComponentBase):
@@ -36,3 +37,13 @@ async def get_poses(
                 an empty list, all available poses are returned.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the pose tracker, in their current configuration, in the frame of the pose tracker.
+
+        Returns:
+            List[Geometry]: The geometries associated with the pose tracker.
+        """
+        ...
diff --git a/src/viam/components/pose_tracker/service.py b/src/viam/components/pose_tracker/service.py
index 284779f7e..5f2a4d571 100644
--- a/src/viam/components/pose_tracker/service.py
+++ b/src/viam/components/pose_tracker/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.posetracker import GetPosesRequest, GetPosesResponse, PoseTrackerServiceBase
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
@@ -37,4 +36,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        pose_tracker = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await pose_tracker.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/power_sensor/power_sensor.py b/src/viam/components/power_sensor/power_sensor.py
index c095d48eb..ddda6783e 100644
--- a/src/viam/components/power_sensor/power_sensor.py
+++ b/src/viam/components/power_sensor/power_sensor.py
@@ -3,14 +3,13 @@
 from typing import Any, Dict, Final, List, Mapping, Optional, Tuple
 
 from grpclib import GRPCError
+from viam.components.component_base import ComponentBase
 
 from viam.errors import MethodNotImplementedError, NotSupportedError
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
-from ..sensor import Sensor
 
-
-class PowerSensor(Sensor):
+class PowerSensor(ComponentBase):
     """PowerSensor reports information about voltage, current and power.
 
     This acts as an abstract base class for any sensors that can provide data regarding voltage, current and/or power.
diff --git a/src/viam/components/sensor/__init__.py b/src/viam/components/sensor/__init__.py
index 1bdf2319a..0bf6fb1bb 100644
--- a/src/viam/components/sensor/__init__.py
+++ b/src/viam/components/sensor/__init__.py
@@ -1,3 +1,4 @@
+from viam.proto.common import Geometry
 from viam.resource.registry import Registry, ResourceRegistration
 
 from .client import SensorClient
@@ -6,6 +7,7 @@
 
 __all__ = [
     "Sensor",
+    "Geometry",
 ]
 
 Registry.register_subtype(
diff --git a/src/viam/components/sensor/client.py b/src/viam/components/sensor/client.py
index 1d09b46d2..5f5f30b3e 100644
--- a/src/viam/components/sensor/client.py
+++ b/src/viam/components/sensor/client.py
@@ -1,13 +1,14 @@
-from typing import Any, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib.client import Channel
 
 from viam.proto.common import DoCommandRequest, DoCommandResponse
 from viam.proto.component.sensor import GetReadingsRequest, GetReadingsResponse, SensorServiceStub
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, sensor_readings_value_to_native, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, sensor_readings_value_to_native, struct_to_dict
 
 from .sensor import Sensor
+from . import Geometry
 
 
 class SensorClient(Sensor, ReconfigurableResourceRPCClientBase):
@@ -31,3 +32,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/sensor/sensor.py b/src/viam/components/sensor/sensor.py
index 4e0c9837d..a454d6b3c 100644
--- a/src/viam/components/sensor/sensor.py
+++ b/src/viam/components/sensor/sensor.py
@@ -1,9 +1,10 @@
 import abc
-from typing import Any, Mapping, Optional
+from typing import Any, List, Mapping, Optional
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class Sensor(ComponentBase):
@@ -28,3 +29,13 @@ async def get_readings(
             Mapping[str, Any]: The measurements. Can be of any type.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the sensor, in their current configuration, in the frame of the sensor.
+
+        Returns:
+            List[Geometry]: The geometries associated with the sensor.
+        """
+        ...
diff --git a/src/viam/components/sensor/service.py b/src/viam/components/sensor/service.py
index b4ffe6490..6ebdd3311 100644
--- a/src/viam/components/sensor/service.py
+++ b/src/viam/components/sensor/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.sensor import GetReadingsRequest, GetReadingsResponse, SensorServiceBase
 from viam.resource.rpc_service_base import ResourceRPCServiceBase
@@ -36,4 +35,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        sensor = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await sensor.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/servo/__init__.py b/src/viam/components/servo/__init__.py
index 93546e85e..9ffe2975a 100644
--- a/src/viam/components/servo/__init__.py
+++ b/src/viam/components/servo/__init__.py
@@ -1,5 +1,6 @@
 import asyncio
 
+from viam.proto.common import Geometry
 from viam.proto.component.servo import Status as ServoStatus
 from viam.proto.robot import Status
 from viam.resource.registry import Registry, ResourceRegistration
@@ -11,6 +12,7 @@
 
 __all__ = [
     "Servo",
+    "Geometry",
 ]
 
 
diff --git a/src/viam/components/servo/client.py b/src/viam/components/servo/client.py
index ad836c0ba..5bf639c60 100644
--- a/src/viam/components/servo/client.py
+++ b/src/viam/components/servo/client.py
@@ -1,4 +1,4 @@
-from typing import Any, Mapping, Optional
+from typing import Any, Dict, List, Mapping, Optional
 
 from grpclib.client import Channel
 
@@ -13,9 +13,10 @@
     StopRequest,
 )
 from viam.resource.rpc_client_base import ReconfigurableResourceRPCClientBase
-from viam.utils import ValueTypes, dict_to_struct, struct_to_dict
+from viam.utils import ValueTypes, get_geometries, dict_to_struct, struct_to_dict
 
 from .servo import Servo
+from . import Geometry
 
 
 class ServoClient(Servo, ReconfigurableResourceRPCClientBase):
@@ -56,3 +57,6 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
         request = DoCommandRequest(name=self.name, command=dict_to_struct(command))
         response: DoCommandResponse = await self.client.DoCommand(request, timeout=timeout)
         return struct_to_dict(response.result)
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        return await get_geometries(self, extra, timeout)
diff --git a/src/viam/components/servo/service.py b/src/viam/components/servo/service.py
index 6118306d7..bd9672d31 100644
--- a/src/viam/components/servo/service.py
+++ b/src/viam/components/servo/service.py
@@ -1,6 +1,5 @@
 from grpclib.server import Stream
 
-from viam.errors import MethodNotImplementedError
 from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.servo import (
     GetPositionRequest,
@@ -72,4 +71,10 @@ async def DoCommand(self, stream: Stream[DoCommandRequest, DoCommandResponse]) -
         await stream.send_message(response)
 
     async def GetGeometries(self, stream: Stream[GetGeometriesRequest, GetGeometriesResponse]) -> None:
-        raise MethodNotImplementedError("GetGeometries").grpc_error
+        request = await stream.recv_message()
+        assert request is not None
+        servo = self.get_resource(request.name)
+        timeout = stream.deadline.time_remaining() if stream.deadline else None
+        geometries = await servo.get_geometries(extra=struct_to_dict(request.extra), timeout=timeout)
+        response = GetGeometriesResponse(geometries=geometries)
+        await stream.send_message(response)
diff --git a/src/viam/components/servo/servo.py b/src/viam/components/servo/servo.py
index f858f158c..880135d1c 100644
--- a/src/viam/components/servo/servo.py
+++ b/src/viam/components/servo/servo.py
@@ -1,9 +1,10 @@
 import abc
-from typing import Any, Final, Mapping, Optional
+from typing import Any, Final, List, Mapping, Optional
 
 from viam.resource.types import RESOURCE_NAMESPACE_RDK, RESOURCE_TYPE_COMPONENT, Subtype
 
 from ..component_base import ComponentBase
+from . import Geometry
 
 
 class Servo(ComponentBase):
@@ -53,3 +54,13 @@ async def is_moving(self) -> bool:
             bool: Whether the servo is moving.
         """
         ...
+
+    @abc.abstractmethod
+    async def get_geometries(self) -> List[Geometry]:
+        """
+        Get all geometries associated with the servo, in their current configuration, in the frame of the servo.
+
+        Returns:
+            List[Geometry]: The geometries associated with the servo.
+        """
+        ...
diff --git a/src/viam/module/types.py b/src/viam/module/types.py
index 41a083030..baddf3384 100644
--- a/src/viam/module/types.py
+++ b/src/viam/module/types.py
@@ -15,10 +15,19 @@ def reconfigure(self, config: ComponentConfig, dependencies: Mapping[ResourceNam
 
 @runtime_checkable
 class Stoppable(Protocol):
-    """The Stoppable protocol defines the requirements for making a resource Stoppable.
+    """
+    The Stoppable protocol defines the requirements for making a resource Stoppable.
 
     All resources that physically move should be Stoppable.
     """
 
     def stop(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs):
         ...
+
+
+@runtime_checkable
+class SupportsGetGeometries(Protocol):
+    """The SupportsGetGeometries protocol defines the requirements for a resource to call get_geometries."""
+
+    def get_geometries(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Optional[float] = None, **kwargs):
+        ...
diff --git a/src/viam/utils.py b/src/viam/utils.py
index 87b2fd275..ff95f7669 100644
--- a/src/viam/utils.py
+++ b/src/viam/utils.py
@@ -4,14 +4,14 @@
 import sys
 import threading
 from datetime import datetime
-from typing import Any, Dict, List, Mapping, SupportsBytes, SupportsFloat, Type, TypeVar, Union
+from typing import Any, Dict, List, Mapping, Optional, SupportsBytes, SupportsFloat, Type, TypeVar, Union
 
 from google.protobuf.json_format import MessageToDict, ParseDict
 from google.protobuf.message import Message
 from google.protobuf.struct_pb2 import ListValue, Struct, Value
 from google.protobuf.timestamp_pb2 import Timestamp
 
-from viam.proto.common import GeoPoint, Orientation, ResourceName, Vector3
+from viam.proto.common import Geometry, GeoPoint, GetGeometriesRequest, GetGeometriesResponse, Orientation, ResourceName, Vector3
 from viam.resource.base import ResourceBase
 from viam.resource.registry import Registry
 from viam.resource.types import Subtype
@@ -159,6 +159,14 @@ def datetime_to_timestamp(dt: datetime) -> Timestamp:
     return timestamp
 
 
+async def get_geometries(client, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+    if extra is None:
+        extra = {}
+    request = GetGeometriesRequest(name=client.name, extra=dict_to_struct(extra))
+    response: GetGeometriesResponse = await client.client.GetGeometries(request, timeout=timeout)
+    return [geometry for geometry in response.geometries]
+
+
 def sensor_readings_native_to_value(readings: Mapping[str, Any]) -> Mapping[str, Any]:
     prim_readings = dict(readings)
     for key, reading in readings.items():
diff --git a/tests/mocks/components.py b/tests/mocks/components.py
index f7625f5fc..46f67a49f 100644
--- a/tests/mocks/components.py
+++ b/tests/mocks/components.py
@@ -38,12 +38,15 @@
 from viam.proto.common import (
     AnalogStatus,
     BoardStatus,
+    Capsule,
     DigitalInterruptStatus,
+    Geometry,
     GeoPoint,
     Orientation,
     Pose,
     PoseInFrame,
     ResponseMetadata,
+    Sphere,
     Vector3,
 )
 from viam.proto.component.audioinput import AudioChunk, AudioChunkInfo, SampleFormat
@@ -52,20 +55,19 @@
 from viam.utils import ValueTypes
 
 
+GEOMETRIES = [
+    Geometry(center=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20), sphere=Sphere(radius_mm=2)),
+    Geometry(center=Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20), capsule=Capsule(radius_mm=3, length_mm=8)),
+]
+
+
 class MockArm(Arm):
     def __init__(self, name: str):
-        self.position = Pose(
-            x=1,
-            y=2,
-            z=3,
-            o_x=2,
-            o_y=3,
-            o_z=4,
-            theta=20,
-        )
+        self.position = Pose(x=1, y=2, z=3, o_x=2, o_y=3, o_z=4, theta=20)
         self.joint_positions = JointPositions(values=[0, 0, 0, 0, 0, 0])
         self.is_stopped = True
         self.kinematics = (KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, b"\x00\x01\x02")
+        self.geometries = GEOMETRIES
         self.extra = None
         self.timeout: Optional[float] = None
         super().__init__(name)
@@ -115,8 +117,14 @@ async def get_kinematics(
         self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None
     ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
         self.extra = extra
+        self.timeout = timeout
         return self.kinematics
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -124,6 +132,7 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
 class MockAudioInput(AudioInput):
     def __init__(self, name: str, properties: AudioInput.Properties):
         super().__init__(name)
+        self.geometries = GEOMETRIES
         self.properties = properties
         self.timeout: Optional[float] = None
 
@@ -146,6 +155,11 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
         self.timeout = timeout
         return self.properties
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -159,6 +173,7 @@ def __init__(self, name: str):
         self.angular_pwr = Vector3(x=0, y=0, z=0)
         self.linear_vel = Vector3(x=0, y=0, z=0)
         self.angular_vel = Vector3(x=0, y=0, z=0)
+        self.geometries = GEOMETRIES
         self.extra: Optional[Dict[str, Any]] = None
         self.timeout: Optional[float] = None
         self.props = Base.Properties(1.0, 1.0)
@@ -221,6 +236,11 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
         self.timeout = timeout
         return self.props
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -313,6 +333,7 @@ def __init__(
     ):
         self.analog_readers = analog_readers
         self.digital_interrupts = digital_interrupts
+        self.geometries = GEOMETRIES
         self.gpios = gpio_pins
         self.timeout: Optional[float] = None
         super().__init__(name)
@@ -352,6 +373,11 @@ async def status(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optio
     async def model_attributes(self) -> Board.Attributes:
         return Board.Attributes(remote=True)
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -366,6 +392,7 @@ async def set_power_mode(
 class MockCamera(Camera):
     def __init__(self, name: str):
         self.image = Image.new("RGBA", (100, 100), "#AABBCCDD")
+        self.geometries = GEOMETRIES
         self.point_cloud = b"THIS IS A POINT CLOUD"
         self.props = Camera.Properties(
             False,
@@ -406,6 +433,11 @@ async def get_properties(self, *, timeout: Optional[float] = None, **kwargs) ->
         self.timeout = timeout
         return self.props
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -414,6 +446,7 @@ class MockEncoder(Encoder):
     def __init__(self, name: str):
         self.position: float = 0
         self.position_type = PositionType.POSITION_TYPE_TICKS_COUNT
+        self.geometries = GEOMETRIES
         self.extra = None
         self.timeout: Optional[float] = None
         super().__init__(name)
@@ -452,6 +485,11 @@ async def get_properties(
         self.timeout = timeout
         return Encoder.Properties(ticks_count_supported=True, angle_degrees_supported=False)
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -464,6 +502,7 @@ def __init__(self, name: str, position: List[float], lengths: List[float]):
         self.extra = None
         self.homed = True
         self.speeds = Optional[List[float]]
+        self.geometries = GEOMETRIES
         self.timeout: Optional[float] = None
         super().__init__(name)
 
@@ -507,12 +546,23 @@ async def stop(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optiona
     async def is_moving(self) -> bool:
         return not self.is_stopped
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
 
 class MockGeneric(GenericComponent):
     timeout: Optional[float] = None
+    geometries = GEOMETRIES
+
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
 
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         self.timeout = timeout
@@ -522,6 +572,7 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
 class MockGripper(Gripper):
     def __init__(self, name: str):
         self.opened = False
+        self.geometries = GEOMETRIES
         self.extra = None
         self.is_stopped = True
         self.timeout: Optional[float] = None
@@ -548,6 +599,11 @@ async def stop(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optiona
     async def is_moving(self) -> bool:
         return not self.is_stopped
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -557,6 +613,7 @@ def __init__(self, name: str):
         super().__init__(name)
         self.events: Dict[Control, Event] = {}
         self.callbacks: Dict[Control, Dict[EventType, Optional[ControlFunction]]] = {}
+        self.geometries = GEOMETRIES
         self.timeout: Optional[float] = None
         self.extra = None
         self.reg_extra = None
@@ -614,6 +671,11 @@ async def trigger_event(self, event: Event, *, extra: Optional[Dict[str, Any]] =
         if callback:
             callback(event)
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -623,6 +685,7 @@ def __init__(self, name: str):
         self.position: float = 0
         self.power = 0
         self.powered = False
+        self.geometries = GEOMETRIES
         self.extra = None
         self.timeout: Optional[float] = None
         super().__init__(name)
@@ -732,6 +795,11 @@ async def is_powered(
     async def is_moving(self) -> bool:
         return self.powered
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -760,6 +828,7 @@ def __init__(
         self.orientation = orientation
         self.properties = properties
         self.accuracy = accuracy
+        self.geometries = GEOMETRIES
         self.extra: Optional[Dict[str, Any]] = None
         self.timeout: Optional[float] = None
 
@@ -811,6 +880,11 @@ async def get_accuracy(
         self.timeout = timeout
         return self.accuracy
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -837,6 +911,7 @@ def __init__(self, name: str, poses: List[MockPose]):
             pose_map[str(idx)] = pose
         self.poses_result = pose_map
         self.name = name
+        self.geometries = GEOMETRIES
         self.timeout: Optional[float] = None
         self.extra: Optional[Mapping[str, Any]] = None
 
@@ -855,6 +930,11 @@ async def get_poses(
         self.extra = extra
         return result
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -866,6 +946,7 @@ def __init__(self, name: str, voltage: float, current: float, is_ac: bool, power
         self.current = current
         self.is_ac = is_ac
         self.power = power
+        self.geometries = GEOMETRIES
         self.extra: Optional[Dict[str, Any]] = None
         self.timeout: Optional[float] = None
 
@@ -891,6 +972,7 @@ async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Option
 class MockSensor(Sensor):
     def __init__(self, name: str, result: Mapping[str, Any] = {"a": 0, "b": {"foo": "bar"}, "c": [1, 8, 2], "d": "Hello world!"}):
         self.readings = result
+        self.geometries = GEOMETRIES
         self.extra: Optional[Mapping[str, Any]] = None
         self.timeout: Optional[float] = None
         super().__init__(name)
@@ -902,6 +984,11 @@ async def get_readings(
         self.timeout = timeout
         return self.readings
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
 
@@ -910,6 +997,7 @@ class MockServo(Servo):
     def __init__(self, name: str):
         self.angle = 0
         self.is_stopped = True
+        self.geometries = GEOMETRIES
         self.timeout: Optional[float] = None
         self.extra: Optional[Mapping[str, Any]] = None
         super().__init__(name)
@@ -933,5 +1021,10 @@ async def stop(self, *, extra: Optional[Mapping[str, Any]] = None, timeout: Opti
     async def is_moving(self) -> bool:
         return not self.is_stopped
 
+    async def get_geometries(self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None) -> List[Geometry]:
+        self.extra = extra
+        self.timeout = timeout
+        return self.geometries
+
     async def do_command(self, command: Mapping[str, ValueTypes], *, timeout: Optional[float] = None, **kwargs) -> Mapping[str, ValueTypes]:
         return {"command": command}
diff --git a/tests/test_arm.py b/tests/test_arm.py
index 8b11c2361..c98456f26 100644
--- a/tests/test_arm.py
+++ b/tests/test_arm.py
@@ -1,10 +1,17 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.arm import ArmClient, ArmStatus, KinematicsFileFormat, create_status
 from viam.components.arm.service import ArmRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetKinematicsRequest, GetKinematicsResponse, Pose
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    GetKinematicsRequest,
+    GetKinematicsResponse,
+    Pose,
+)
 from viam.proto.component.arm import (
     ArmServiceStub,
     GetEndPositionRequest,
@@ -22,7 +29,7 @@
 from viam.utils import dict_to_struct, message_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockArm
+from .mocks.components import GEOMETRIES, MockArm
 
 
 class TestArm:
@@ -70,6 +77,11 @@ async def test_get_kinematics(self):
         assert kd == self.kinematics
         assert self.arm.extra == {"1": "2"}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        geometries = await self.arm.get_geometries()
+        assert geometries == GEOMETRIES
+
     @pytest.mark.asyncio
     async def test_do(self):
         command = {"command": "args"}
@@ -175,9 +187,9 @@ async def test_get_kinematics(self):
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = ArmServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=self.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
     @pytest.mark.asyncio
     async def test_extra(self):
@@ -254,6 +266,13 @@ async def test_get_kinematics(self):
             assert kd == self.kinematics
             assert self.arm.extra == {"1": "2"}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        async with ChannelFor([self.service]) as channel:
+            client = ArmClient(self.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
+
     @pytest.mark.asyncio
     async def test_do(self):
         async with ChannelFor([self.service]) as channel:
diff --git a/tests/test_audio_input.py b/tests/test_audio_input.py
index bb61f36e6..9fbf128bc 100644
--- a/tests/test_audio_input.py
+++ b/tests/test_audio_input.py
@@ -8,7 +8,7 @@
 
 from viam.components.audio_input import AudioInput, AudioInputClient, AudioInputRPCService
 from viam.components.generic.service import GenericRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.audioinput import (
     AudioInputServiceStub,
     ChunksRequest,
@@ -22,7 +22,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockAudioInput
+from .mocks.components import GEOMETRIES, MockAudioInput
 
 PROPERTIES = AudioInput.Properties(
     channel_count=2,
@@ -76,6 +76,11 @@ async def test_do(self, audio_input: AudioInput):
         resp = await audio_input.do_command(command)
         assert resp == {"command": command}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, audio_input: AudioInput):
+        geometries = await audio_input.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -129,12 +134,12 @@ async def test_do(self, audio_input: MockAudioInput, service: AudioInputRPCServi
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: AudioInputRPCService):
+    async def test_get_geometries(self, audio_input: MockAudioInput, service: AudioInputRPCService):
         async with ChannelFor([service]) as channel:
             client = AudioInputServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=audio_input.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -169,3 +174,10 @@ async def test_do(self, audio_input: AudioInput, service: AudioInputRPCService):
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, audio_input: AudioInput, service: AudioInputRPCService):
+        async with ChannelFor([service]) as channel:
+            client = AudioInputClient(audio_input.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_base.py b/tests/test_base.py
index 3b6103210..651f23d4b 100644
--- a/tests/test_base.py
+++ b/tests/test_base.py
@@ -1,13 +1,12 @@
 from random import randint, random
 
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.base import BaseClient, Vector3, create_status
 from viam.components.base.service import BaseRPCService
 from viam.components.generic.service import GenericRPCService
-from viam.proto.common import ActuatorStatus, DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import ActuatorStatus, DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.base import (
     BaseServiceStub,
     IsMovingRequest,
@@ -22,7 +21,7 @@
 from viam.utils import dict_to_struct, message_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockBase
+from .mocks.components import GEOMETRIES, MockBase
 
 
 @pytest.fixture(scope="function")
@@ -128,6 +127,11 @@ async def test_extra(self, base: MockBase):
         await base.move_straight(1, 1, extra=extra)
         assert base.extra == extra
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, base: MockBase):
+        geometries = await base.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -268,12 +272,12 @@ async def test_do(self, base: MockBase, service: BaseRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: BaseRPCService):
+    async def test_get_geometries(self, base: MockBase, service: BaseRPCService):
         async with ChannelFor([service]) as channel:
             client = BaseServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=base.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -371,3 +375,10 @@ async def test_extra(self, base: MockBase, service: BaseRPCService):
             extra = {"foo": "bar", "baz": [1, 2, 3]}
             await client.move_straight(1, 1, extra=extra)
             assert base.extra == extra
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, base: MockBase, service: BaseRPCService):
+        async with ChannelFor([service]) as channel:
+            client = BaseClient(base.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_board.py b/tests/test_board.py
index 7c422544d..6af6e145e 100644
--- a/tests/test_board.py
+++ b/tests/test_board.py
@@ -10,7 +10,15 @@
 from viam.components.board.service import BoardRPCService
 from viam.components.generic.service import GenericRPCService
 from viam.errors import ResourceNotFoundError
-from viam.proto.common import AnalogStatus, BoardStatus, DigitalInterruptStatus, DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import (
+    AnalogStatus,
+    BoardStatus,
+    DigitalInterruptStatus,
+    DoCommandRequest,
+    DoCommandResponse,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+)
 from viam.proto.component.board import (
     BoardServiceStub,
     GetDigitalInterruptValueRequest,
@@ -36,7 +44,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockAnalogReader, MockBoard, MockDigitalInterrupt, MockGPIOPin
+from .mocks.components import GEOMETRIES, MockAnalogReader, MockBoard, MockDigitalInterrupt, MockGPIOPin
 
 
 @pytest.fixture(scope="function")
@@ -131,6 +139,11 @@ async def test_set_power_mode(self, board: MockBoard):
         assert board.power_mode == pm_mode
         assert board.power_mode_duration == pm_duration
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, board: MockBoard):
+        geometries = await board.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -286,12 +299,12 @@ async def test_do(self, board: MockBoard, service: BoardRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: BoardRPCService):
+    async def test_get_geometries(self, board: MockBoard, service: BoardRPCService):
         async with ChannelFor([service]) as channel:
             client = BoardServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=board.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
     @pytest.mark.asyncio
     async def test_set_power_mode(self, board: MockBoard, service: BoardRPCService):
@@ -407,6 +420,13 @@ async def test_set_power_mode(self, board: MockBoard, service: BoardRPCService):
             pm_duration.FromTimedelta(pm_timedelta)
             assert board.power_mode_duration == pm_duration.ToTimedelta()
 
+    @pytest.mark.asyncio
+    async def test_extra(self, board: MockBoard, service: BoardRPCService):
+        async with ChannelFor([service]) as channel:
+            client = BoardClient(board.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
+
 
 class TestGPIOPinClient:
     @pytest.mark.asyncio
diff --git a/tests/test_camera.py b/tests/test_camera.py
index 1e776afb3..0693d8837 100644
--- a/tests/test_camera.py
+++ b/tests/test_camera.py
@@ -4,7 +4,6 @@
 import pytest
 from google.api.httpbody_pb2 import HttpBody
 from google.protobuf.timestamp_pb2 import Timestamp
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 from PIL import Image
 
@@ -12,7 +11,7 @@
 from viam.components.camera.service import CameraRPCService
 from viam.components.generic.service import GenericRPCService
 from viam.media.video import LIBRARY_SUPPORTED_FORMATS, CameraMimeType, NamedImage, RawImage
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, ResponseMetadata
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse, ResponseMetadata
 from viam.proto.component.camera import (
     CameraServiceStub,
     DistortionParameters,
@@ -32,7 +31,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockCamera
+from .mocks.components import GEOMETRIES, MockCamera
 
 # ################################ NB ################################# #
 #   These test values have to be fixtures and must match the values in  #
@@ -133,6 +132,11 @@ async def test_timeout(self, camera: MockCamera):
         await camera.get_properties(timeout=7.86)
         assert camera.timeout == loose_approx(7.86)
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, camera: MockCamera):
+        geometries = await camera.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -226,12 +230,12 @@ async def test_do(self, camera: MockCamera, service: CameraRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: CameraRPCService):
+    async def test_get_geometries(self, camera: MockCamera, service: CameraRPCService):
         async with ChannelFor([service]) as channel:
             client = CameraServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=camera.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -303,3 +307,10 @@ async def test_do(self, service: CameraRPCService):
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, service: CameraRPCService):
+        async with ChannelFor([service]) as channel:
+            client = CameraClient("camera", channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_encoder.py b/tests/test_encoder.py
index a85e0a78f..a8417a440 100644
--- a/tests/test_encoder.py
+++ b/tests/test_encoder.py
@@ -1,11 +1,10 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.encoder import EncoderClient
 from viam.components.encoder.service import EncoderRPCService
 from viam.components.generic.service import GenericRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.encoder import (
     EncoderServiceStub,
     GetPositionRequest,
@@ -19,7 +18,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockEncoder
+from .mocks.components import GEOMETRIES, MockEncoder
 
 
 @pytest.fixture(scope="function")
@@ -66,6 +65,11 @@ async def test_do(self, encoder: MockEncoder):
         resp = await encoder.do_command(command)
         assert resp == {"command": command}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, encoder: MockEncoder):
+        geometries = await encoder.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -108,12 +112,12 @@ async def test_do(self, encoder: MockEncoder, service: EncoderRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: EncoderRPCService):
+    async def test_get_geometries(self, encoder: MockEncoder, service: EncoderRPCService):
         async with ChannelFor([service]) as channel:
             client = EncoderServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=encoder.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -150,3 +154,10 @@ async def test_do(self, encoder: MockEncoder, service: EncoderRPCService):
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, encoder: MockEncoder, service: EncoderRPCService):
+        async with ChannelFor([service]) as channel:
+            client = EncoderClient(encoder.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_gantry.py b/tests/test_gantry.py
index 0289587f9..ce331fe41 100644
--- a/tests/test_gantry.py
+++ b/tests/test_gantry.py
@@ -1,10 +1,9 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.gantry import GantryClient, GantryStatus, create_status
 from viam.components.gantry.service import GantryRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.gantry import (
     GantryServiceStub,
     GetLengthsRequest,
@@ -22,7 +21,7 @@
 from viam.utils import dict_to_struct, message_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockGantry
+from .mocks.components import GEOMETRIES, MockGantry
 
 
 class TestGantry:
@@ -97,6 +96,11 @@ async def test_timeout(self):
         await self.gantry.stop(timeout=4.4)
         assert self.gantry.timeout == loose_approx(4.4)
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        geometries = await self.gantry.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @classmethod
@@ -186,9 +190,9 @@ async def test_do(self):
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = GantryServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=self.gantry.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -264,3 +268,10 @@ async def test_extra(self):
             extra = {"foo": "bar", "baz": [1, 2, 3]}
             await client.move_to_position([1, 2, 3], [4, 5, 6], extra=extra)
             assert self.gantry.extra == extra
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        async with ChannelFor([self.service]) as channel:
+            client = GantryClient(self.gantry.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_generic.py b/tests/test_generic.py
index 0e5021963..60220db94 100644
--- a/tests/test_generic.py
+++ b/tests/test_generic.py
@@ -1,15 +1,14 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.generic import GenericClient, GenericRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.generic import GenericServiceStub
 from viam.resource.manager import ResourceManager
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockGeneric
+from .mocks.components import GEOMETRIES, MockGeneric
 
 
 class TestGeneric:
@@ -21,6 +20,11 @@ async def test_do(self):
         assert result == {"command": True}
         assert self.generic.timeout == loose_approx(1.82)
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        geometries = await self.generic.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @classmethod
@@ -44,9 +48,9 @@ async def test_do(self):
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = GenericServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=self.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -64,3 +68,10 @@ async def test_do(self):
             result = await client.do_command({"command": "args"}, timeout=7.86)
             assert result == {"command": True}
             assert self.generic.timeout == loose_approx(7.86)
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        async with ChannelFor([self.service]) as channel:
+            client = GenericClient(self.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_gripper.py b/tests/test_gripper.py
index fb204b5fd..e643bda85 100644
--- a/tests/test_gripper.py
+++ b/tests/test_gripper.py
@@ -1,11 +1,10 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.generic.service import GenericRPCService
 from viam.components.gripper import Gripper, GripperClient, create_status
 from viam.components.gripper.service import GripperRPCService
-from viam.proto.common import ActuatorStatus, DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import ActuatorStatus, DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.gripper import (
     GrabRequest,
     GrabResponse,
@@ -19,7 +18,7 @@
 from viam.utils import dict_to_struct, message_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockGripper
+from .mocks.components import GEOMETRIES, MockGripper
 
 
 @pytest.fixture(scope="function")
@@ -89,6 +88,11 @@ async def test_extra(self, gripper: MockGripper):
         await gripper.open(timeout=1.1, extra=extra)
         assert gripper.extra == extra
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, gripper: MockGripper):
+        geometries = await gripper.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -156,12 +160,12 @@ async def test_do(self, gripper: MockGripper, service: GripperRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: GripperRPCService):
+    async def test_get_geometries(self, gripper: MockGripper, service: GripperRPCService):
         async with ChannelFor([service]) as channel:
             client = GripperServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=gripper.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -218,3 +222,10 @@ async def test_extra(self, gripper: MockGripper, service: GripperRPCService):
             extra = {"foo": "bar", "baz": [1, 2, 3]}
             await client.open(timeout=1.1, extra=extra)
             assert gripper.extra == extra
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, gripper: MockGripper, service: GripperRPCService):
+        async with ChannelFor([service]) as channel:
+            client = GripperClient(gripper.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_input.py b/tests/test_input.py
index 51291e405..f16084066 100644
--- a/tests/test_input.py
+++ b/tests/test_input.py
@@ -3,14 +3,13 @@
 from time import time
 
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.generic.service import GenericRPCService
 from viam.components.input import Control, Event, EventType
 from viam.components.input.client import ControllerClient
 from viam.components.input.service import InputControllerRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.inputcontroller import (
     GetControlsRequest,
     GetControlsResponse,
@@ -25,7 +24,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockInputController
+from .mocks.components import GEOMETRIES, MockInputController
 
 
 @pytest.fixture(scope="function")
@@ -111,6 +110,11 @@ async def test_do(self, controller: MockInputController):
         resp = await controller.do_command(command)
         assert resp == {"command": command}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, controller: MockInputController):
+        geometries = await controller.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -218,12 +222,12 @@ async def test_do(self, controller: MockInputController, service: InputControlle
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: InputControllerRPCService):
+    async def test_get_geometries(self, controller: MockInputController, service: InputControllerRPCService):
         async with ChannelFor([service]) as channel:
             client = InputControllerServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=controller.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -339,3 +343,10 @@ async def test_channel_rest(self, controller: MockInputController, service: Inpu
             client.reset_channel(channel2)
             await asyncio.sleep(0.1)
             assert client._is_streaming is True  # reset the channel should restart the callback stream
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, controller: MockInputController, service: InputControllerRPCService):
+        async with ChannelFor([service]) as channel:
+            client = ControllerClient(controller.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_motor.py b/tests/test_motor.py
index 857b377fe..ae29bd802 100644
--- a/tests/test_motor.py
+++ b/tests/test_motor.py
@@ -1,11 +1,10 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.generic.service import GenericRPCService
 from viam.components.motor import MotorClient, MotorStatus, create_status
 from viam.components.motor.service import MotorRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.motor import (
     GetPositionRequest,
     GetPositionResponse,
@@ -26,7 +25,7 @@
 from viam.utils import dict_to_struct, message_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockMotor
+from .mocks.components import GEOMETRIES, MockMotor
 
 
 @pytest.fixture(scope="function")
@@ -145,6 +144,11 @@ async def test_extra(self, motor: MockMotor):
         await motor.is_powered(extra=extra)
         assert motor.extra == extra
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, motor: MockMotor):
+        geometries = await motor.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -281,12 +285,12 @@ async def test_do(self, motor: MockMotor, service: MotorRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: MotorRPCService):
+    async def test_get_geometries(self, motor: MockMotor, service: MotorRPCService):
         async with ChannelFor([service]) as channel:
             client = MotorServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=motor.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -402,3 +406,10 @@ async def test_extra(self, motor: MockMotor, service: MotorRPCService):
             extra = {"foo": "bar", "baz": [1, 2, 3]}
             await client.is_powered(extra=extra)
             assert motor.extra == extra
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, motor: MockMotor, service: MotorRPCService):
+        async with ChannelFor([service]) as channel:
+            client = MotorClient(motor.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_movement_sensor.py b/tests/test_movement_sensor.py
index 9d6ee0ba6..64a9fb3c9 100644
--- a/tests/test_movement_sensor.py
+++ b/tests/test_movement_sensor.py
@@ -6,7 +6,15 @@
 
 from viam.components.generic.service import GenericRPCService
 from viam.components.movement_sensor import MovementSensor, MovementSensorClient, MovementSensorRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GeoPoint, GetGeometriesRequest, Orientation, Vector3
+from viam.proto.common import (
+    DoCommandRequest,
+    DoCommandResponse,
+    GeoPoint,
+    GetGeometriesRequest,
+    GetGeometriesResponse,
+    Orientation,
+    Vector3,
+)
 from viam.proto.component.movementsensor import (
     GetAccuracyRequest,
     GetAccuracyResponse,
@@ -30,7 +38,7 @@
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockMovementSensor
+from .mocks.components import GEOMETRIES, MockMovementSensor
 
 COORDINATE = GeoPoint(latitude=40.664679865782624, longitude=-73.97668056188789)
 ALTITUDE = 15
@@ -217,6 +225,11 @@ async def test_do(self, movement_sensor: MovementSensor):
         resp = await movement_sensor.do_command(command)
         assert resp == {"command": command}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, movement_sensor: MockMovementSensor):
+        geometries = await movement_sensor.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @pytest.mark.asyncio
@@ -317,12 +330,12 @@ async def test_do(self, movement_sensor: MockMovementSensor, service: MovementSe
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: MovementSensorRPCService):
+    async def test_get_geometries(self, movement_sensor: MockMovementSensor, service: MovementSensorRPCService):
         async with ChannelFor([service]) as channel:
             client = MovementSensorServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=movement_sensor.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -432,3 +445,10 @@ async def test_do(self, movement_sensor: MovementSensor, service: MovementSensor
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, movement_sensor: MockMovementSensor, service: MovementSensorRPCService):
+        async with ChannelFor([service]) as channel:
+            client = MovementSensorClient(movement_sensor.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_pose_tracker.py b/tests/test_pose_tracker.py
index 242cf580b..7104627cb 100644
--- a/tests/test_pose_tracker.py
+++ b/tests/test_pose_tracker.py
@@ -1,16 +1,15 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.pose_tracker import PoseTrackerClient
 from viam.components.pose_tracker.service import PoseTrackerRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, Pose, PoseInFrame
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse, Pose, PoseInFrame
 from viam.proto.component.posetracker import GetPosesRequest, GetPosesResponse, PoseTrackerServiceStub
 from viam.resource.manager import ResourceManager
 from viam.utils import dict_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockPose, MockPoseTracker
+from .mocks.components import GEOMETRIES, MockPose, MockPoseTracker
 
 POSES = [
     MockPose(X=1, Y=2, Z=3, o_X=2, o_Y=3, o_Z=4, theta=20),
@@ -36,6 +35,11 @@ async def test_do(self):
         resp = await self.mock_pose_tracker.do_command(command)
         assert resp == {"command": command}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        geometries = await self.mock_pose_tracker.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @classmethod
@@ -72,9 +76,9 @@ async def test_do(self):
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = PoseTrackerServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=self.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -103,3 +107,10 @@ async def test_do(self):
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        async with ChannelFor([self.service]) as channel:
+            client = PoseTrackerClient(self.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_robot.py b/tests/test_robot.py
index 60abfce34..aa2db4c02 100644
--- a/tests/test_robot.py
+++ b/tests/test_robot.py
@@ -1,5 +1,5 @@
 import asyncio
-from typing import Any, Dict, Optional, Tuple
+from typing import Any, Dict, List, Optional, Tuple
 
 import pytest
 from google.protobuf.struct_pb2 import Struct, Value
@@ -8,7 +8,7 @@
 from grpclib.server import Stream
 from grpclib.testing import ChannelFor
 
-from viam.components.arm import Arm, KinematicsFileFormat
+from viam.components.arm import Arm, Geometry, KinematicsFileFormat
 from viam.components.arm.client import ArmClient
 from viam.components.motor import Motor
 from viam.components.movement_sensor import MovementSensor
@@ -557,6 +557,11 @@ async def get_kinematics(
                 ) -> Tuple[KinematicsFileFormat.ValueType, bytes]:
                     return await self.actual_client.get_kinematics(timeout=timeout)
 
+                async def get_geometries(
+                    self, *, extra: Optional[Dict[str, Any]] = None, timeout: Optional[float] = None
+                ) -> List[Geometry]:
+                    return await self.actual_client.get_geometries(timeout=timeout)
+
             old_create_client = Registry._SUBTYPES[Arm.SUBTYPE].create_rpc_client
             Registry._SUBTYPES[Arm.SUBTYPE].create_rpc_client = lambda name, channel: FakeArmClient(name, channel)
 
diff --git a/tests/test_sensor.py b/tests/test_sensor.py
index 99aae486c..bbd04de02 100644
--- a/tests/test_sensor.py
+++ b/tests/test_sensor.py
@@ -1,16 +1,15 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.sensor import SensorClient
 from viam.components.sensor.service import SensorRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.sensor import GetReadingsRequest, GetReadingsResponse, SensorServiceStub
 from viam.resource.manager import ResourceManager
 from viam.utils import dict_to_struct, primitive_to_value, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockSensor
+from .mocks.components import GEOMETRIES, MockSensor
 
 READINGS = {"a": 1, "b": 2, "c": 3}
 EXTRA_PARAMS = {"foo": "bar", "baz": [1, 2, 3]}
@@ -36,6 +35,11 @@ async def test_do(self, sensor):
         resp = await sensor.do_command(command)
         assert resp == {"command": command}
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, sensor):
+        geometries = await sensor.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 @pytest.fixture(scope="function")
 def manager(sensor) -> ResourceManager:
@@ -70,12 +74,12 @@ async def test_do(self, sensor: MockSensor, service: SensorRPCService):
             assert result == {"command": command}
 
     @pytest.mark.asyncio
-    async def test_get_geometries(self, service: SensorRPCService):
+    async def test_get_geometries(self, sensor: MockSensor, service: SensorRPCService):
         async with ChannelFor([service]) as channel:
             client = SensorServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=sensor.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -96,3 +100,10 @@ async def test_do(self, sensor, manager, service):
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self, sensor, service):
+        async with ChannelFor([service]) as channel:
+            client = SensorClient(sensor.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES
diff --git a/tests/test_servo.py b/tests/test_servo.py
index dc6fe691e..b52680fba 100644
--- a/tests/test_servo.py
+++ b/tests/test_servo.py
@@ -1,10 +1,9 @@
 import pytest
-from grpclib import GRPCError
 from grpclib.testing import ChannelFor
 
 from viam.components.servo import ServoClient, ServoStatus, create_status
 from viam.components.servo.service import ServoRPCService
-from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest
+from viam.proto.common import DoCommandRequest, DoCommandResponse, GetGeometriesRequest, GetGeometriesResponse
 from viam.proto.component.servo import (
     GetPositionRequest,
     GetPositionResponse,
@@ -18,7 +17,7 @@
 from viam.utils import dict_to_struct, message_to_struct, struct_to_dict
 
 from . import loose_approx
-from .mocks.components import MockServo
+from .mocks.components import GEOMETRIES, MockServo
 
 
 class TestServo:
@@ -67,6 +66,11 @@ async def test_status(self):
         assert status.name == self.servo.get_resource_name(self.servo.name)
         assert status.status == message_to_struct(ServoStatus(position_deg=self.pos, is_moving=True))
 
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        geometries = await self.servo.get_geometries()
+        assert geometries == GEOMETRIES
+
 
 class TestService:
     @classmethod
@@ -132,9 +136,9 @@ async def test_do(self):
     async def test_get_geometries(self):
         async with ChannelFor([self.service]) as channel:
             client = ServoServiceStub(channel)
-            request = GetGeometriesRequest()
-            with pytest.raises(GRPCError, match=r"Method [a-zA-Z]+ not implemented"):
-                await client.GetGeometries(request)
+            request = GetGeometriesRequest(name=self.servo.name)
+            response: GetGeometriesResponse = await client.GetGeometries(request)
+            assert [geometry for geometry in response.geometries] == GEOMETRIES
 
 
 class TestClient:
@@ -189,3 +193,10 @@ async def test_do(self):
             command = {"command": "args"}
             resp = await client.do_command(command)
             assert resp == {"command": command}
+
+    @pytest.mark.asyncio
+    async def test_get_geometries(self):
+        async with ChannelFor([self.service]) as channel:
+            client = ServoClient(self.name, channel)
+            geometries = await client.get_geometries()
+            assert geometries == GEOMETRIES