diff --git a/lib/src/components/arm/arm.dart b/lib/src/components/arm/arm.dart
index 6a34bb2e792..02e4abe991f 100644
--- a/lib/src/components/arm/arm.dart
+++ b/lib/src/components/arm/arm.dart
@@ -1,5 +1,6 @@
 import '../../../viam_sdk.dart';
 import '../../gen/common/v1/common.pb.dart';
+import '../../utils.dart';
 
 /// {@category Components}
 /// Arm represents a physical robot arm that exists in three-dimensional space.
@@ -88,6 +89,15 @@ abstract class Arm extends Resource {
   /// For more information, see [Arm component](https://docs.viam.com/dev/reference/apis/components/arm/#getkinematics).
   Future<Kinematics> getKinematics({Map<String, dynamic>? extra});
 
+  /// Get all geometries associated with the [Arm]
+  ///
+  /// ```
+  /// final geometries = await myArm.getGeometries();
+  /// ```
+  ///
+  /// For more information, see [Arm component](https://docs.viam.com/dev/reference/apis/components/arm/#getgeometries).
+  Future<List<Geometry>> getGeometries({Map<String, dynamic>? extra});
+
   /// Get the [ResourceName] for this [Arm] with the given [name].
   ///
   /// ```
diff --git a/lib/src/components/arm/client.dart b/lib/src/components/arm/client.dart
index 3e948769a42..07e475c5138 100644
--- a/lib/src/components/arm/client.dart
+++ b/lib/src/components/arm/client.dart
@@ -5,7 +5,6 @@ import '../../gen/component/arm/v1/arm.pbgrpc.dart';
 import '../../gen/google/protobuf/struct.pb.dart';
 import '../../resource/base.dart';
 import '../../utils.dart';
-import '../gripper/gripper.dart';
 import 'arm.dart';
 
 /// {@category Components}
@@ -101,4 +100,13 @@ class ArmClient extends Arm with RPCDebugLoggerMixin implements ResourceRPCClien
     final response = await client.getKinematics(request, options: callOptions);
     return Kinematics.fromProto(response);
   }
+
+  @override
+  Future<List<Geometry>> getGeometries({Map<String, dynamic>? extra}) async {
+    final request = GetGeometriesRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getGeometries(request, options: callOptions);
+    return response.geometries;
+  }
 }
diff --git a/lib/src/components/arm/service.dart b/lib/src/components/arm/service.dart
index 2565f9cbb14..8c20a835d12 100644
--- a/lib/src/components/arm/service.dart
+++ b/lib/src/components/arm/service.dart
@@ -78,9 +78,10 @@ class ArmService extends ArmServiceBase {
   }
 
   @override
-  Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) {
-    // TODO: implement getGeometries
-    throw UnimplementedError();
+  Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) async {
+    final arm = _armFromManager(request.name);
+    final geometries = await arm.getGeometries(extra: request.extra.toMap());
+    return GetGeometriesResponse()..geometries.addAll(geometries);
   }
 
   @override
diff --git a/lib/src/components/gantry/client.dart b/lib/src/components/gantry/client.dart
index f541fe6cbca..2eef1fd94f3 100644
--- a/lib/src/components/gantry/client.dart
+++ b/lib/src/components/gantry/client.dart
@@ -81,4 +81,22 @@ class GantryClient extends Gantry with RPCDebugLoggerMixin implements ResourceRP
     final response = await client.doCommand(request, options: callOptions);
     return response.result.toMap();
   }
+
+  @override
+  Future<Kinematics> getKinematics({Map<String, dynamic>? extra}) async {
+    final request = GetKinematicsRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getKinematics(request, options: callOptions);
+    return Kinematics.fromProto(response);
+  }
+
+  @override
+  Future<List<Geometry>> getGeometries({Map<String, dynamic>? extra}) async {
+    final request = GetGeometriesRequest()
+      ..name = name
+      ..extra = extra?.toStruct() ?? Struct();
+    final response = await client.getGeometries(request, options: callOptions);
+    return response.geometries;
+  }
 }
diff --git a/lib/src/components/gantry/gantry.dart b/lib/src/components/gantry/gantry.dart
index 5817833a558..c91e93b5d9f 100644
--- a/lib/src/components/gantry/gantry.dart
+++ b/lib/src/components/gantry/gantry.dart
@@ -1,6 +1,7 @@
 import '../../gen/common/v1/common.pb.dart';
 import '../../resource/base.dart';
 import '../../robot/client.dart';
+import '../../utils.dart';
 
 /// {@category Components}
 /// Gantry represents a physical Gantry and can be used for controlling gantries of N axes.
@@ -63,6 +64,24 @@ abstract class Gantry extends Resource {
   /// For more information, see [Gantry component](https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving).
   Future<bool> isMoving();
 
+  /// Get the kinematics data associated with the [Gantry]
+  ///
+  /// ```
+  /// var kinematics = await myGantry.getKinematics();
+  /// ```
+  ///
+  /// For more information, see [Gantry component](https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics).
+  Future<Kinematics> getKinematics({Map<String, dynamic>? extra});
+
+  /// Get all geometries associated with the [Gantry]
+  ///
+  /// ```
+  /// final geometries = await myGantry.getGeometries();
+  /// ```
+  ///
+  /// For more information, see [Gantry component](https://docs.viam.com/dev/reference/apis/components/gantry/#getgeometries).
+  Future<List<Geometry>> getGeometries({Map<String, dynamic>? extra});
+
   /// Get the [ResourceName] for this [Gantry] with the given [name]
   ///
   /// ```
diff --git a/lib/src/components/gantry/service.dart b/lib/src/components/gantry/service.dart
index 186b7fa717f..b3f68aca54c 100644
--- a/lib/src/components/gantry/service.dart
+++ b/lib/src/components/gantry/service.dart
@@ -71,14 +71,18 @@ class GantryService extends GantryServiceBase {
   }
 
   @override
-  Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) {
-    // TODO: implement getGeometries
-    throw UnimplementedError();
+  Future<GetGeometriesResponse> getGeometries(ServiceCall call, GetGeometriesRequest request) async {
+    final gantry = _fromManager(request.name);
+    final geometries = await gantry.getGeometries(extra: request.extra.toMap());
+    return GetGeometriesResponse()..geometries.addAll(geometries);
   }
 
   @override
-  Future<GetKinematicsResponse> getKinematics(ServiceCall call, GetKinematicsRequest request) {
-    // TODO: implement getKinematics
-    throw UnimplementedError();
+  Future<GetKinematicsResponse> getKinematics(ServiceCall call, GetKinematicsRequest request) async {
+    final gantry = _fromManager(request.name);
+    final response = await gantry.getKinematics(extra: request.extra.toMap());
+    return GetKinematicsResponse()
+      ..format = response.format
+      ..kinematicsData = response.raw;
   }
 }
diff --git a/lib/src/components/gripper/gripper.dart b/lib/src/components/gripper/gripper.dart
index 1ab7a0da83e..dad59fa116e 100644
--- a/lib/src/components/gripper/gripper.dart
+++ b/lib/src/components/gripper/gripper.dart
@@ -4,18 +4,6 @@ import '../../resource/base.dart';
 import '../../robot/client.dart';
 import '../../utils.dart';
 
-/// {@category Viam SDK}
-class Kinematics {
-  KinematicsFileFormat format;
-  List<int> raw;
-
-  Kinematics(this.format, this.raw);
-
-  factory Kinematics.fromProto(GetKinematicsResponse gkResponse) {
-    return Kinematics(gkResponse.format, gkResponse.kinematicsData);
-  }
-}
-
 /// {@category Viam SDK}
 /// HoldingStatus represents whether the gripper is currently holding onto
 /// an object as well as any additional contextual information (stored in `Meta`).
diff --git a/lib/src/utils.dart b/lib/src/utils.dart
index 3885c234b1b..77e3fe9872e 100644
--- a/lib/src/utils.dart
+++ b/lib/src/utils.dart
@@ -11,6 +11,17 @@ import 'gen/google/protobuf/struct.pb.dart';
 
 final _logger = Logger();
 
+class Kinematics {
+  KinematicsFileFormat format;
+  List<int> raw;
+
+  Kinematics(this.format, this.raw);
+
+  factory Kinematics.fromProto(GetKinematicsResponse gkResponse) {
+    return Kinematics(gkResponse.format, gkResponse.kinematicsData);
+  }
+}
+
 extension NullableStringUtils on String? {
   bool get isNullOrEmpty {
     return this?.isEmpty ?? true;
diff --git a/test/unit_test/components/arm_test.dart b/test/unit_test/components/arm_test.dart
index b3c992a7d31..a9ae33feb33 100644
--- a/test/unit_test/components/arm_test.dart
+++ b/test/unit_test/components/arm_test.dart
@@ -19,7 +19,14 @@ class FakeArm extends Arm {
   Map<String, dynamic>? extra;
   Map<String, Mesh> arm3DModels = {};
   Kinematics armKinematics = Kinematics(KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, [1, 2, 3]);
-
+  List<Geometry> armGeometries = [
+    Geometry()
+      ..box = (RectangularPrism()
+        ..dimsMm = (Vector3()
+          ..x = 1
+          ..y = 2
+          ..z = 3)),
+  ];
   @override
   String name;
 
@@ -74,6 +81,12 @@ class FakeArm extends Arm {
     return arm3DModels;
   }
 
+  @override
+  Future<List<Geometry>> getGeometries({Map<String, dynamic>? extra}) async {
+    this.extra = extra;
+    return armGeometries;
+  }
+
   @override
   Future<Kinematics> getKinematics({Map<String, dynamic>? extra}) async {
     this.extra = extra;
@@ -154,6 +167,14 @@ void main() {
       expect(arm.extra, {'foo': 'bar'});
     });
 
+    test('getGeometries', () async {
+      final geometries = await arm.getGeometries();
+      expect(geometries[0].whichGeometryType(), Geometry_GeometryType.box);
+      expect(geometries[0].box.dimsMm.x, 1);
+      expect(geometries[0].box.dimsMm.y, 2);
+      expect(geometries[0].box.dimsMm.z, 3);
+    });
+
     test('getKinematics', () async {
       final kinematics = await arm.getKinematics();
       expect(kinematics.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
@@ -175,7 +196,11 @@ void main() {
       service = ArmService(manager);
       server = Server.create(services: [service]);
       await serveServerAtUnusedPort(server);
-      channel = ClientChannel('localhost', port: server.port!, options: const ChannelOptions(credentials: ChannelCredentials.insecure()));
+      channel = ClientChannel(
+        'localhost',
+        port: server.port!,
+        options: const ChannelOptions(credentials: ChannelCredentials.insecure()),
+      );
     });
 
     tearDown(() async {
@@ -262,9 +287,11 @@ void main() {
         final cmd = {'foo': 'bar'};
 
         final client = ArmServiceClient(channel);
-        final resp = await client.doCommand(DoCommandRequest()
-          ..name = name
-          ..command = cmd.toStruct());
+        final resp = await client.doCommand(
+          DoCommandRequest()
+            ..name = name
+            ..command = cmd.toStruct(),
+        );
         expect(resp.result.toMap()['command'], cmd);
       });
 
@@ -272,9 +299,11 @@ void main() {
         expect(arm.extra, null);
 
         final client = ArmServiceClient(channel);
-        await client.stop(StopRequest()
-          ..name = name
-          ..extra = {'foo': 'bar'}.toStruct());
+        await client.stop(
+          StopRequest()
+            ..name = name
+            ..extra = {'foo': 'bar'}.toStruct(),
+        );
         expect(arm.extra, {'foo': 'bar'});
       });
 
@@ -285,6 +314,16 @@ void main() {
         expect(response.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
         expect(response.kinematicsData, [1, 2, 3]);
       });
+
+      test('getGeometries', () async {
+        final client = ArmServiceClient(channel);
+        final request = GetGeometriesRequest()..name = name;
+        final response = await client.getGeometries(request);
+        expect(response.geometries[0].whichGeometryType(), Geometry_GeometryType.box);
+        expect(response.geometries[0].box.dimsMm.x, 1);
+        expect(response.geometries[0].box.dimsMm.y, 2);
+        expect(response.geometries[0].box.dimsMm.z, 3);
+      });
     });
 
     group('Arm Client Tests', () {
@@ -365,5 +404,14 @@ void main() {
       expect(kinematics.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
       expect(kinematics.raw, [1, 2, 3]);
     });
+
+    test('getGeometries', () async {
+      final client = ArmClient(name, channel);
+      final geometries = await client.getGeometries();
+      expect(geometries[0].whichGeometryType(), Geometry_GeometryType.box);
+      expect(geometries[0].box.dimsMm.x, 1);
+      expect(geometries[0].box.dimsMm.y, 2);
+      expect(geometries[0].box.dimsMm.z, 3);
+    });
   });
 }
diff --git a/test/unit_test/components/gantry_test.dart b/test/unit_test/components/gantry_test.dart
index 79803185924..cb21c611ad7 100644
--- a/test/unit_test/components/gantry_test.dart
+++ b/test/unit_test/components/gantry_test.dart
@@ -1,5 +1,6 @@
 import 'package:flutter_test/flutter_test.dart';
 import 'package:grpc/grpc.dart';
+import 'package:viam_sdk/protos/common/common.dart';
 import 'package:viam_sdk/src/components/gantry/service.dart';
 import 'package:viam_sdk/src/gen/component/gantry/v1/gantry.pbgrpc.dart';
 import 'package:viam_sdk/src/resource/manager.dart';
@@ -14,6 +15,15 @@ class FakeGantry extends Gantry {
   List<double> mLengths;
   bool isStopped = true;
   Map<String, dynamic>? extra;
+  Kinematics gantryKinematics = Kinematics(KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA, [1, 2, 3]);
+  List<Geometry> gantryGeometries = [
+    Geometry()
+      ..box = (RectangularPrism()
+        ..dimsMm = (Vector3()
+          ..x = 1
+          ..y = 2
+          ..z = 3)),
+  ];
 
   @override
   String name;
@@ -57,6 +67,18 @@ class FakeGantry extends Gantry {
   Future<List<double>> position({Map<String, dynamic>? extra}) async {
     return positions;
   }
+
+  @override
+  Future<Kinematics> getKinematics({Map<String, dynamic>? extra}) async {
+    this.extra = extra;
+    return gantryKinematics;
+  }
+
+  @override
+  Future<List<Geometry>> getGeometries({Map<String, dynamic>? extra}) async {
+    this.extra = extra;
+    return gantryGeometries;
+  }
 }
 
 void main() {
@@ -126,6 +148,20 @@ void main() {
       await gantry.stop(extra: {'foo': 'bar'});
       expect(gantry.extra, {'foo': 'bar'});
     });
+
+    test('getKinematics', () async {
+      final kinematics = await gantry.getKinematics();
+      expect(kinematics.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
+      expect(kinematics.raw, [1, 2, 3]);
+    });
+
+    test('getGeometries', () async {
+      final geometries = await gantry.getGeometries();
+      expect(geometries[0].whichGeometryType(), Geometry_GeometryType.box);
+      expect(geometries[0].box.dimsMm.x, 1);
+      expect(geometries[0].box.dimsMm.y, 2);
+      expect(geometries[0].box.dimsMm.z, 3);
+    });
   });
 
   group('Gantry RPC Tests', () {
@@ -143,7 +179,11 @@ void main() {
       service = GantryService(manager);
       server = Server.create(services: [service]);
       await serveServerAtUnusedPort(server);
-      channel = ClientChannel('localhost', port: server.port!, options: const ChannelOptions(credentials: ChannelCredentials.insecure()));
+      channel = ClientChannel(
+        'localhost',
+        port: server.port!,
+        options: const ChannelOptions(credentials: ChannelCredentials.insecure()),
+      );
     });
 
     tearDown(() async {
@@ -218,9 +258,11 @@ void main() {
         final cmd = {'foo': 'bar'};
 
         final client = GantryServiceClient(channel);
-        final resp = await client.doCommand(DoCommandRequest()
-          ..name = name
-          ..command = cmd.toStruct());
+        final resp = await client.doCommand(
+          DoCommandRequest()
+            ..name = name
+            ..command = cmd.toStruct(),
+        );
         expect(resp.result.toMap()['command'], cmd);
       });
 
@@ -228,11 +270,31 @@ void main() {
         expect(gantry.extra, null);
 
         final client = GantryServiceClient(channel);
-        await client.stop(StopRequest()
-          ..name = name
-          ..extra = {'foo': 'bar'}.toStruct());
+        await client.stop(
+          StopRequest()
+            ..name = name
+            ..extra = {'foo': 'bar'}.toStruct(),
+        );
         expect(gantry.extra, {'foo': 'bar'});
       });
+
+      test('getKinematics', () async {
+        final client = GantryServiceClient(channel);
+        final request = GetKinematicsRequest()..name = name;
+        final response = await client.getKinematics(request);
+        expect(response.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
+        expect(response.kinematicsData, [1, 2, 3]);
+      });
+
+      test('getGeometries', () async {
+        final client = GantryServiceClient(channel);
+        final request = GetGeometriesRequest()..name = name;
+        final response = await client.getGeometries(request);
+        expect(response.geometries[0].whichGeometryType(), Geometry_GeometryType.box);
+        expect(response.geometries[0].box.dimsMm.x, 1);
+        expect(response.geometries[0].box.dimsMm.y, 2);
+        expect(response.geometries[0].box.dimsMm.z, 3);
+      });
     });
     group('Gantry Client Tests', () {
       test('position', () async {
@@ -292,6 +354,22 @@ void main() {
         await client.stop(extra: {'foo': 'bar'});
         expect(gantry.extra, {'foo': 'bar'});
       });
+
+      test('getKinematics', () async {
+        final client = GantryClient(name, channel);
+        final kinematics = await client.getKinematics();
+        expect(kinematics.format, KinematicsFileFormat.KINEMATICS_FILE_FORMAT_SVA);
+        expect(kinematics.raw, [1, 2, 3]);
+      });
+
+      test('getGeometries', () async {
+        final client = GantryClient(name, channel);
+        final geometries = await client.getGeometries();
+        expect(geometries[0].whichGeometryType(), Geometry_GeometryType.box);
+        expect(geometries[0].box.dimsMm.x, 1);
+        expect(geometries[0].box.dimsMm.y, 2);
+        expect(geometries[0].box.dimsMm.z, 3);
+      });
     });
   });
 }