diff --git a/src/viam/api/CMakeLists.txt b/src/viam/api/CMakeLists.txt
index 453831215..b0131e648 100644
--- a/src/viam/api/CMakeLists.txt
+++ b/src/viam/api/CMakeLists.txt
@@ -163,6 +163,10 @@ if (VIAMCPPSDK_USE_DYNAMIC_PROTOS)
     ${PROTO_GEN_DIR}/component/movementsensor/v1/movementsensor.grpc.pb.h
     ${PROTO_GEN_DIR}/component/movementsensor/v1/movementsensor.pb.cc
     ${PROTO_GEN_DIR}/component/movementsensor/v1/movementsensor.pb.h
+    ${PROTO_GEN_DIR}/component/sensor/v1/sensor.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/sensor/v1/sensor.grpc.pb.h
+    ${PROTO_GEN_DIR}/component/sensor/v1/sensor.pb.cc
+    ${PROTO_GEN_DIR}/component/sensor/v1/sensor.pb.h
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.h
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -258,6 +262,8 @@ target_sources(viamapi
     ${PROTO_GEN_DIR}/component/motor/v1/motor.pb.cc
     ${PROTO_GEN_DIR}/component/movementsensor/v1/movementsensor.grpc.pb.cc
     ${PROTO_GEN_DIR}/component/movementsensor/v1/movementsensor.pb.cc
+    ${PROTO_GEN_DIR}/component/sensor/v1/sensor.grpc.pb.cc
+    ${PROTO_GEN_DIR}/component/sensor/v1/sensor.pb.cc
     ${PROTO_GEN_DIR}/google/api/annotations.pb.cc
     ${PROTO_GEN_DIR}/google/api/http.pb.cc
     ${PROTO_GEN_DIR}/google/api/httpbody.pb.cc
@@ -295,6 +301,8 @@ target_sources(viamapi
       ${PROTO_GEN_DIR}/../../viam/api/component/motor/v1/motor.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/movementsensor/v1/movementsensor.grpc.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/component/movementsensor/v1/movementsensor.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/sensor/v1/sensor.grpc.pb.h
+      ${PROTO_GEN_DIR}/../../viam/api/component/sensor/v1/sensor.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/annotations.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/http.pb.h
       ${PROTO_GEN_DIR}/../../viam/api/google/api/httpbody.pb.h
diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index 88330c663..99ee6afbc 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -71,6 +71,9 @@ target_sources(viamsdk
     components/movement_sensor/client.cpp
     components/movement_sensor/movement_sensor.cpp
     components/movement_sensor/server.cpp
+    components/sensor/client.cpp
+    components/sensor/sensor.cpp
+    components/sensor/server.cpp
     config/resource.cpp
     module/handler_map.cpp
     module/module.cpp
@@ -127,6 +130,9 @@ target_sources(viamsdk
       ../../viam/sdk/components/movement_sensor/client.hpp
       ../../viam/sdk/components/movement_sensor/movement_sensor.hpp
       ../../viam/sdk/components/movement_sensor/server.hpp
+      ../../viam/sdk/components/sensor/client.hpp
+      ../../viam/sdk/components/sensor/sensor.hpp
+      ../../viam/sdk/components/sensor/server.hpp
       ../../viam/sdk/config/resource.hpp
       ../../viam/sdk/module/handler_map.hpp
       ../../viam/sdk/module/module.hpp
diff --git a/src/viam/sdk/components/movement_sensor/client.hpp b/src/viam/sdk/components/movement_sensor/client.hpp
index f76eb87fa..c79916238 100644
--- a/src/viam/sdk/components/movement_sensor/client.hpp
+++ b/src/viam/sdk/components/movement_sensor/client.hpp
@@ -1,4 +1,4 @@
-/// @file components/movementsensor/client.hpp
+/// @file components/movement_sensor/client.hpp
 ///
 /// @brief Implements a gRPC client for the `MovementSensor` component.
 #pragma once
diff --git a/src/viam/sdk/components/movement_sensor/movement_sensor.cpp b/src/viam/sdk/components/movement_sensor/movement_sensor.cpp
index 6552076cb..77f5cfb40 100644
--- a/src/viam/sdk/components/movement_sensor/movement_sensor.cpp
+++ b/src/viam/sdk/components/movement_sensor/movement_sensor.cpp
@@ -14,36 +14,6 @@
 namespace viam {
 namespace sdk {
 
-// todo: move me somewhere central
-template <typename ResourceClientT,
-          typename ResourceServerT,
-          typename ProtoServiceT,
-          typename ResourceRegT>
-class ResourceRegistration2 : public ResourceRegistration {
-   public:
-    using ResourceRegistration::ResourceRegistration;
-    std::shared_ptr<ResourceServer> create_resource_server(
-        std::shared_ptr<ResourceManager> manager) override {
-        return std::make_shared<ResourceServerT>(manager);
-    }
-
-    std::shared_ptr<Resource> create_rpc_client(std::string name,
-                                                std::shared_ptr<grpc::Channel> chan) override {
-        return std::make_shared<ResourceClientT>(std::move(name), std::move(chan));
-    }
-
-    static std::shared_ptr<ResourceRegistration> resource_registration() {
-        const google::protobuf::DescriptorPool* p =
-            google::protobuf::DescriptorPool::generated_pool();
-        const google::protobuf::ServiceDescriptor* sd =
-            p->FindServiceByName(ProtoServiceT::service_full_name());
-        if (!sd) {
-            throw std::runtime_error("Unable to get service descriptor");
-        }
-        return std::make_shared<ResourceRegT>(sd);
-    }
-};
-
 API MovementSensor::static_api() {
     return {kRDK, kComponent, "movement_sensor"};
 }
diff --git a/src/viam/sdk/components/movement_sensor/movement_sensor.hpp b/src/viam/sdk/components/movement_sensor/movement_sensor.hpp
index 0044f27ce..50cd45687 100644
--- a/src/viam/sdk/components/movement_sensor/movement_sensor.hpp
+++ b/src/viam/sdk/components/movement_sensor/movement_sensor.hpp
@@ -1,4 +1,4 @@
-/// @file components/movementsensor/movementsensor.hpp
+/// @file components/movement_sensor/movement_sensor.hpp
 ///
 /// @brief Defines a `MovementSensor` component.
 #pragma once
@@ -21,7 +21,7 @@ namespace sdk {
 
 /// @defgroup MovementSensor Classes related to the MovementSensor component.
 
-/// @class MovementSensor movementsensor.hpp "components/movementsensor/movementsensor.hpp"
+/// @class MovementSensor movement_sensor.hpp "components/movement_sensor/movement_sensor.hpp"
 /// @ingroup MovementSensor
 ///
 /// This acts as an abstract base class to be inherited from by any drivers representing
diff --git a/src/viam/sdk/components/movement_sensor/server.cpp b/src/viam/sdk/components/movement_sensor/server.cpp
index e0ff0862f..8ac49ece4 100644
--- a/src/viam/sdk/components/movement_sensor/server.cpp
+++ b/src/viam/sdk/components/movement_sensor/server.cpp
@@ -1,6 +1,7 @@
 #include <viam/sdk/components/movement_sensor/server.hpp>
 
 #include <viam/sdk/common/linear_algebra.hpp>
+#include <viam/sdk/common/service_helper.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/movement_sensor/movement_sensor.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -16,177 +17,129 @@ MovementSensorServer::MovementSensorServer()
 MovementSensorServer::MovementSensorServer(std::shared_ptr<ResourceManager> manager)
     : ResourceServer(manager){};
 
-::grpc::Status MovementSensorServer::GetLinearVelocity(::grpc::ServerContext* context,
-                                                       const GetLinearVelocityRequest* request,
-                                                       GetLinearVelocityResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    Vector3 result = status.movementsensor->get_linear_velocity(status.extra);
-    *response->mutable_linear_velocity() = Vector3::to_proto(result);
-
-    return ::grpc::Status();
+::grpc::Status MovementSensorServer::GetLinearVelocity(
+    ::grpc::ServerContext* context,
+    const GetLinearVelocityRequest* request,
+    GetLinearVelocityResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetLinearVelocity",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const Vector3 result = movementsensor->get_linear_velocity(helper.getExtra());
+        *response->mutable_linear_velocity() = Vector3::to_proto(result);
+    });
 }
 
-::grpc::Status MovementSensorServer::GetAngularVelocity(::grpc::ServerContext* context,
-                                                        const GetAngularVelocityRequest* request,
-                                                        GetAngularVelocityResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    Vector3 result = status.movementsensor->get_angular_velocity(status.extra);
-    *response->mutable_angular_velocity() = Vector3::to_proto(result);
-
-    return ::grpc::Status();
+::grpc::Status MovementSensorServer::GetAngularVelocity(
+    ::grpc::ServerContext* context,
+    const GetAngularVelocityRequest* request,
+    GetAngularVelocityResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetAngularVelocity",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const Vector3 result = movementsensor->get_angular_velocity(helper.getExtra());
+        *response->mutable_angular_velocity() = Vector3::to_proto(result);
+    });
 }
 
-::grpc::Status MovementSensorServer::GetCompassHeading(::grpc::ServerContext* context,
-                                                       const GetCompassHeadingRequest* request,
-                                                       GetCompassHeadingResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    MovementSensor::compassheading result =
-        status.movementsensor->get_compass_heading(status.extra);
-    response->set_value(result.value);
-
-    return ::grpc::Status();
+::grpc::Status MovementSensorServer::GetCompassHeading(
+    ::grpc::ServerContext* context,
+    const GetCompassHeadingRequest* request,
+    GetCompassHeadingResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetCompassHeading",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const MovementSensor::compassheading result =
+            movementsensor->get_compass_heading(helper.getExtra());
+        response->set_value(result.value);
+    });
 }
 
 ::grpc::Status MovementSensorServer::GetOrientation(::grpc::ServerContext* context,
                                                     const GetOrientationRequest* request,
-                                                    GetOrientationResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    MovementSensor::orientation result = status.movementsensor->get_orientation(status.extra);
-    *response->mutable_orientation() = MovementSensor::to_proto(result);
-
-    return ::grpc::Status();
+                                                    GetOrientationResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetOrientation",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const MovementSensor::orientation result =
+            movementsensor->get_orientation(helper.getExtra());
+        *response->mutable_orientation() = MovementSensor::to_proto(result);
+    });
 }
 
 ::grpc::Status MovementSensorServer::GetPosition(::grpc::ServerContext* context,
                                                  const GetPositionRequest* request,
-                                                 GetPositionResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    MovementSensor::position result = status.movementsensor->get_position(status.extra);
-    *response->mutable_coordinate() = result.coordinate.to_proto();
-    response->set_altitude_m(result.altitude_m);
-
-    return ::grpc::Status();
+                                                 GetPositionResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetPosition", this, request)(
+        [&](auto& helper, auto& movementsensor) {
+            const MovementSensor::position result = movementsensor->get_position(helper.getExtra());
+            *response->mutable_coordinate() = result.coordinate.to_proto();
+            response->set_altitude_m(result.altitude_m);
+        });
 }
 
 ::grpc::Status MovementSensorServer::GetProperties(::grpc::ServerContext* context,
                                                    const GetPropertiesRequest* request,
-                                                   GetPropertiesResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    MovementSensor::properties result = status.movementsensor->get_properties(status.extra);
-    response->set_linear_velocity_supported(result.linear_velocity_supported);
-    response->set_angular_velocity_supported(result.angular_velocity_supported);
-    response->set_orientation_supported(result.orientation_supported);
-    response->set_position_supported(result.position_supported);
-    response->set_compass_heading_supported(result.compass_heading_supported);
-    response->set_linear_acceleration_supported(result.linear_acceleration_supported);
-
-    return ::grpc::Status();
+                                                   GetPropertiesResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetProperties",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const MovementSensor::properties result = movementsensor->get_properties(helper.getExtra());
+        response->set_linear_velocity_supported(result.linear_velocity_supported);
+        response->set_angular_velocity_supported(result.angular_velocity_supported);
+        response->set_orientation_supported(result.orientation_supported);
+        response->set_position_supported(result.position_supported);
+        response->set_compass_heading_supported(result.compass_heading_supported);
+        response->set_linear_acceleration_supported(result.linear_acceleration_supported);
+    });
 }
 
 ::grpc::Status MovementSensorServer::GetAccuracy(::grpc::ServerContext* context,
                                                  const GetAccuracyRequest* request,
-                                                 GetAccuracyResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    std::unordered_map<std::string, float> result =
-        status.movementsensor->get_accuracy(status.extra);
-    response->mutable_accuracy()->empty();
-    for (const auto& i : result) {
-        response->mutable_accuracy()->insert({i.first, i.second});
-    }
-
-    return ::grpc::Status();
+                                                 GetAccuracyResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetAccuracy", this, request)(
+        [&](auto& helper, auto& movementsensor) {
+            const auto result = movementsensor->get_accuracy(helper.getExtra());
+            for (const auto& i : result) {
+                response->mutable_accuracy()->insert({i.first, i.second});
+            }
+        });
 }
 
 ::grpc::Status MovementSensorServer::GetLinearAcceleration(
     ::grpc::ServerContext* context,
     const GetLinearAccelerationRequest* request,
-    GetLinearAccelerationResponse* response) {
-    const auto status = server_wrapper<MovementSensor>(request);
-    if (!status.ok()) {
-        return status.status;
-    }
-
-    Vector3 result = status.movementsensor->get_linear_acceleration(status.extra);
-    *response->mutable_linear_acceleration() = Vector3::to_proto(result);
-
-    return ::grpc::Status();
+    GetLinearAccelerationResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetLinearAcceleration",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const Vector3 result = movementsensor->get_linear_acceleration(helper.getExtra());
+        *response->mutable_linear_acceleration() = Vector3::to_proto(result);
+    });
 }
 
-::grpc::Status MovementSensorServer::DoCommand(grpc::ServerContext* context,
-                                               const viam::common::v1::DoCommandRequest* request,
-                                               viam::common::v1::DoCommandResponse* response) {
-    if (!request) {
-        return ::grpc::Status(::grpc::StatusCode::INVALID_ARGUMENT,
-                              "Called [MovementSensor::DoCommand] without a request");
-    };
-
-    auto rb = resource_manager()->resource(request->name());
-    if (!rb) {
-        return grpc::Status(grpc::UNKNOWN, "resource not found: " + request->name());
-    }
-
-    const std::shared_ptr<MovementSensor> sensor = std::dynamic_pointer_cast<MovementSensor>(rb);
-    const AttributeMap result = sensor->do_command(struct_to_map(request->command()));
-
-    *response->mutable_result() = map_to_struct(result);
-
-    return ::grpc::Status();
+::grpc::Status MovementSensorServer::DoCommand(
+    grpc::ServerContext* context,
+    const viam::common::v1::DoCommandRequest* request,
+    viam::common::v1::DoCommandResponse* response) noexcept {
+    return make_service_helper<MovementSensor>(
+        "MovementSensorServer::DoCommand", this, request)([&](auto& helper, auto& movementsensor) {
+        const AttributeMap result = movementsensor->do_command(struct_to_map(request->command()));
+        *response->mutable_result() = map_to_struct(result);
+    });
 }
 
 ::grpc::Status MovementSensorServer::GetGeometries(
     ::grpc::ServerContext* context,
     const ::viam::common::v1::GetGeometriesRequest* request,
-    ::viam::common::v1::GetGeometriesResponse* response) {
-    if (!request) {
-        return ::grpc::Status(::grpc::StatusCode::INVALID_ARGUMENT,
-                              "Called [MovementSensor::GetGeometries] without a request");
-    };
-
-    const std::shared_ptr<Resource> rb = resource_manager()->resource(request->name());
-    if (!rb) {
-        return grpc::Status(grpc::UNKNOWN, "resource not found: " + request->name());
-    }
-
-    AttributeMap extra;
-    if (request->has_extra()) {
-        extra = struct_to_map(request->extra());
-    }
-
-    const std::shared_ptr<MovementSensor> sensor = std::dynamic_pointer_cast<MovementSensor>(rb);
-    const std::vector<GeometryConfig> geometries = sensor->get_geometries(extra);
-    for (const auto& geometry : geometries) {
-        *response->mutable_geometries()->Add() = geometry.to_proto();
-    }
-
-    return ::grpc::Status();
+    ::viam::common::v1::GetGeometriesResponse* response) noexcept {
+    return make_service_helper<MovementSensor>("MovementSensorServer::GetGeometries",
+                                               this,
+                                               request)([&](auto& helper, auto& movementsensor) {
+        const auto geometries = movementsensor->get_geometries(helper.getExtra());
+        for (const auto& geometry : geometries) {
+            *response->mutable_geometries()->Add() = geometry.to_proto();
+        }
+    });
 }
 
 void MovementSensorServer::register_server(std::shared_ptr<Server> server) {
diff --git a/src/viam/sdk/components/movement_sensor/server.hpp b/src/viam/sdk/components/movement_sensor/server.hpp
index ba00d8e34..c006bbe92 100644
--- a/src/viam/sdk/components/movement_sensor/server.hpp
+++ b/src/viam/sdk/components/movement_sensor/server.hpp
@@ -1,4 +1,4 @@
-/// @file components/movementsensor/server.hpp
+/// @file components/movement_sensor/server.hpp
 ///
 /// @brief Implements a gRPC server for the `MovementSensor` component.
 #pragma once
@@ -25,85 +25,57 @@ class MovementSensorServer
     ::grpc::Status GetLinearVelocity(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetLinearVelocityRequest* request,
-        ::viam::component::movementsensor::v1::GetLinearVelocityResponse* response) override;
+        ::viam::component::movementsensor::v1::GetLinearVelocityResponse* response) noexcept
+        override;
 
     ::grpc::Status GetAngularVelocity(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetAngularVelocityRequest* request,
-        ::viam::component::movementsensor::v1::GetAngularVelocityResponse* response) override;
+        ::viam::component::movementsensor::v1::GetAngularVelocityResponse* response) noexcept
+        override;
 
     ::grpc::Status GetCompassHeading(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetCompassHeadingRequest* request,
-        ::viam::component::movementsensor::v1::GetCompassHeadingResponse* response) override;
+        ::viam::component::movementsensor::v1::GetCompassHeadingResponse* response) noexcept
+        override;
 
     ::grpc::Status GetOrientation(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetOrientationRequest* request,
-        ::viam::component::movementsensor::v1::GetOrientationResponse* response) override;
+        ::viam::component::movementsensor::v1::GetOrientationResponse* response) noexcept override;
 
     ::grpc::Status GetPosition(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetPositionRequest* request,
-        ::viam::component::movementsensor::v1::GetPositionResponse* response) override;
+        ::viam::component::movementsensor::v1::GetPositionResponse* response) noexcept override;
 
     ::grpc::Status GetProperties(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetPropertiesRequest* request,
-        ::viam::component::movementsensor::v1::GetPropertiesResponse* response) override;
+        ::viam::component::movementsensor::v1::GetPropertiesResponse* response) noexcept override;
 
     ::grpc::Status GetAccuracy(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetAccuracyRequest* request,
-        ::viam::component::movementsensor::v1::GetAccuracyResponse* response) override;
+        ::viam::component::movementsensor::v1::GetAccuracyResponse* response) noexcept override;
 
     ::grpc::Status GetLinearAcceleration(
         ::grpc::ServerContext* context,
         const ::viam::component::movementsensor::v1::GetLinearAccelerationRequest* request,
-        ::viam::component::movementsensor::v1::GetLinearAccelerationResponse* response) override;
+        ::viam::component::movementsensor::v1::GetLinearAccelerationResponse* response) noexcept
+        override;
 
     ::grpc::Status DoCommand(::grpc::ServerContext* context,
                              const viam::common::v1::DoCommandRequest* request,
-                             viam::common::v1::DoCommandResponse* response) override;
+                             viam::common::v1::DoCommandResponse* response) noexcept override;
 
-    ::grpc::Status GetGeometries(::grpc::ServerContext* context,
-                                 const ::viam::common::v1::GetGeometriesRequest* request,
-                                 ::viam::common::v1::GetGeometriesResponse* response) override;
+    ::grpc::Status GetGeometries(
+        ::grpc::ServerContext* context,
+        const ::viam::common::v1::GetGeometriesRequest* request,
+        ::viam::common::v1::GetGeometriesResponse* response) noexcept override;
 
     void register_server(std::shared_ptr<Server> server) override;
-
-   private:
-    template <typename Cls>
-    struct ServerWrapperResult {
-        ::grpc::Status status;
-        AttributeMap extra;
-        std::shared_ptr<Cls> movementsensor;
-
-        bool ok() const {
-            return status.ok();
-        }
-    };
-
-    // wrapper template for boilerplate
-    template <typename Cls, typename Req>
-    ServerWrapperResult<Cls> server_wrapper(const Req* request) {
-        if (!request) {
-            auto status = ::grpc::Status(::grpc::StatusCode::INVALID_ARGUMENT,
-                                         "Called MovementSensorServer method without a request");
-            return ServerWrapperResult<Cls>{status};
-        };
-        const std::shared_ptr<Resource> rb = resource_manager()->resource(request->name());
-        if (!rb) {
-            auto status = grpc::Status(grpc::UNKNOWN, "resource not found: " + request->name());
-            return ServerWrapperResult<Cls>{status};
-        }
-        ServerWrapperResult<Cls> ret;
-        ret.movementsensor = std::dynamic_pointer_cast<Cls>(rb);
-        if (request->has_extra()) {
-            ret.extra = struct_to_map(request->extra());
-        }
-        return ret;
-    }
 };
 
 }  // namespace sdk
diff --git a/src/viam/sdk/components/sensor/client.cpp b/src/viam/sdk/components/sensor/client.cpp
new file mode 100644
index 000000000..aeaa5ec7f
--- /dev/null
+++ b/src/viam/sdk/components/sensor/client.cpp
@@ -0,0 +1,62 @@
+#include <viam/sdk/components/sensor/client.hpp>
+
+#include <algorithm>
+#include <memory>
+#include <stdexcept>
+#include <string>
+#include <utility>
+
+#include <viam/api/common/v1/common.pb.h>
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/components/sensor/sensor.hpp>
+#include <viam/sdk/config/resource.hpp>
+
+namespace viam {
+namespace sdk {
+
+SensorClient::SensorClient(std::string name, std::shared_ptr<grpc::Channel> channel)
+    : Sensor(std::move(name)),
+      stub_(viam::component::sensor::v1::SensorService::NewStub(channel)),
+      channel_(std::move(channel)){};
+
+using namespace viam::common::v1;
+
+AttributeMap SensorClient::get_readings(const AttributeMap& extra) {
+    GetReadingsResponse response;
+    stub_wrapper<GetReadingsRequest>(this, response, {}, &SensorClient::Stub::GetReadings);
+
+    AttributeMap result =
+        std::make_shared<std::unordered_map<std::string, std::shared_ptr<ProtoType>>>();
+    for (const auto& r : response.readings()) {
+        result->emplace(std::move(r.first), std::make_shared<ProtoType>(r.second));
+    }
+    return result;
+}
+
+AttributeMap SensorClient::do_command(const AttributeMap& command) {
+    DoCommandRequest request;
+    DoCommandResponse response;
+
+    grpc::ClientContext ctx;
+
+    const google::protobuf::Struct proto_command = map_to_struct(command);
+    *request.mutable_command() = proto_command;
+    *request.mutable_name() = this->name();
+
+    const auto status = stub_->DoCommand(&ctx, request, &response);
+    if (!status.ok()) {
+        throw std::runtime_error(status.error_message());
+    }
+    return struct_to_map(response.result());
+}
+
+std::vector<GeometryConfig> SensorClient::get_geometries(const AttributeMap& extra) {
+    GetGeometriesResponse resp;
+    stub_wrapper<GetGeometriesRequest>(this, resp, extra, &SensorClient::Stub::GetGeometries);
+    return GeometryConfig::from_proto(resp);
+}
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/components/sensor/client.hpp b/src/viam/sdk/components/sensor/client.hpp
new file mode 100644
index 000000000..80d3cea06
--- /dev/null
+++ b/src/viam/sdk/components/sensor/client.hpp
@@ -0,0 +1,55 @@
+/// @file components/sensor/client.hpp
+///
+/// @brief Implements a gRPC client for the `Sensor` component.
+#pragma once
+
+#include <grpcpp/channel.h>
+
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+
+#include <viam/sdk/components/sensor/sensor.hpp>
+#include <viam/sdk/components/sensor/server.hpp>
+#include <viam/sdk/config/resource.hpp>
+
+namespace viam {
+namespace sdk {
+
+/// @class SensorClient
+/// @brief gRPC client implementation of a `Sensor` component.
+/// @ingroup Sensor
+class SensorClient : public Sensor {
+   public:
+    SensorClient(std::string name, std::shared_ptr<grpc::Channel> channel);
+    AttributeMap get_readings(const AttributeMap& extra) override;
+    AttributeMap do_command(const AttributeMap& command) override;
+    std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) override;
+
+    using Sensor::get_geometries;
+    using Sensor::get_readings;
+
+    typedef viam::component::sensor::v1::SensorService::StubInterface Stub;
+
+   private:
+    // template to wrap a stub
+    template <typename Request, typename Response, typename Cls>
+    void stub_wrapper(Cls* self,
+                      Response& resp,
+                      const AttributeMap& extra,
+                      ::grpc::Status (Cls::Stub::*method)(::grpc::ClientContext*,
+                                                          const Request&,
+                                                          Response*)) {
+        Request request;
+        grpc::ClientContext ctx;
+        *request.mutable_name() = self->name();
+        *request.mutable_extra() = map_to_struct(extra);
+        const auto status = (*(self->stub_).*method)(&ctx, request, &resp);
+        if (!status.ok()) {
+            throw std::runtime_error(status.error_message());
+        }
+    }
+    std::unique_ptr<Stub> stub_;
+    std::shared_ptr<grpc::Channel> channel_;
+};
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/components/sensor/sensor.cpp b/src/viam/sdk/components/sensor/sensor.cpp
new file mode 100644
index 000000000..f444df10e
--- /dev/null
+++ b/src/viam/sdk/components/sensor/sensor.cpp
@@ -0,0 +1,42 @@
+#include <viam/sdk/components/sensor/sensor.hpp>
+
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+#include <viam/api/component/sensor/v1/sensor.pb.h>
+
+#include <viam/sdk/components/sensor/client.hpp>
+#include <viam/sdk/components/sensor/server.hpp>
+#include <viam/sdk/registry/registry.hpp>
+#include <viam/sdk/resource/resource.hpp>
+
+namespace viam {
+namespace sdk {
+
+API Sensor::static_api() {
+    return {kRDK, kComponent, "sensor"};
+}
+
+API Sensor::dynamic_api() const {
+    return static_api();
+}
+
+namespace {
+class SensorRegistration final
+    : public ResourceRegistration2<SensorClient,
+                                   SensorServer,
+                                   viam::component::sensor::v1::SensorService,
+                                   SensorRegistration> {
+   public:
+    using ResourceRegistration2::ResourceRegistration2;
+};
+
+bool init() {
+    Registry::register_resource(Sensor::static_api(), SensorRegistration::resource_registration());
+    return true;
+};
+
+// NOLINTNEXTLINE(cert-err58-cpp)
+const bool inited = init();
+}  // namespace
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/components/sensor/sensor.hpp b/src/viam/sdk/components/sensor/sensor.hpp
new file mode 100644
index 000000000..ef0796fba
--- /dev/null
+++ b/src/viam/sdk/components/sensor/sensor.hpp
@@ -0,0 +1,64 @@
+/// @file components/sensor/sensor.hpp
+///
+/// @brief Defines a `Sensor` component.
+#pragma once
+
+#include <string>
+
+#include <viam/api/component/sensor/v1/sensor.pb.h>
+
+#include <viam/sdk/common/proto_type.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/components/sensor/server.hpp>
+#include <viam/sdk/config/resource.hpp>
+#include <viam/sdk/registry/registry.hpp>
+#include <viam/sdk/resource/resource_manager.hpp>
+
+namespace viam {
+namespace sdk {
+
+/// @defgroup Sensor Classes related to the Sensor component.
+
+/// @class Sensor sensor.hpp "components/sensor/sensor.hpp"
+/// @ingroup Sensor
+///
+/// This acts as an abstract base class to be inherited from by any drivers representing
+/// specific sensor implementations. This class cannot be used on its own.
+class Sensor : public Component {
+   public:
+    static API static_api();
+    API dynamic_api() const override;
+
+    /// @brief Send/receive arbitrary commands to the resource.
+    /// @param Command the command to execute.
+    /// @return The result of the executed command.
+    virtual AttributeMap do_command(const AttributeMap& command) = 0;
+
+    /// @brief Returns `GeometryConfig`s associated with the calling sensor.
+    /// @return The requested `GeometryConfig`s associated with the component.
+    inline std::vector<GeometryConfig> get_geometries() {
+        return get_geometries({});
+    }
+
+    /// @brief Returns `GeometryConfig`s associated with the calling sensor.
+    /// @param extra Any additional arguments to the method.
+    /// @return The requested `GeometryConfig`s associated with the component.
+    virtual std::vector<GeometryConfig> get_geometries(const AttributeMap& extra) = 0;
+
+    /// @brief Returns the measurements/data specific to this sensor.
+    /// @return The requested measurements/data specific to this sensor.
+    inline AttributeMap get_readings() {
+        return get_readings({});
+    }
+
+    /// @brief Returns the measurements/data specific to this sensor.
+    /// @param extra Any additional arguments to the method.
+    /// @return The requested measurements/data specific to this sensor.
+    virtual AttributeMap get_readings(const AttributeMap& extra) = 0;
+
+   protected:
+    explicit Sensor(std::string name) : Component(std::move(name)){};
+};
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/components/sensor/server.cpp b/src/viam/sdk/components/sensor/server.cpp
new file mode 100644
index 000000000..1f66f57c1
--- /dev/null
+++ b/src/viam/sdk/components/sensor/server.cpp
@@ -0,0 +1,56 @@
+#include <viam/sdk/components/sensor/server.hpp>
+
+#include <viam/sdk/common/service_helper.hpp>
+#include <viam/sdk/common/utils.hpp>
+#include <viam/sdk/components/sensor/sensor.hpp>
+#include <viam/sdk/config/resource.hpp>
+#include <viam/sdk/rpc/server.hpp>
+
+using namespace viam::common::v1;
+
+namespace viam {
+namespace sdk {
+
+SensorServer::SensorServer() : ResourceServer(std::make_shared<ResourceManager>()){};
+SensorServer::SensorServer(std::shared_ptr<ResourceManager> manager) : ResourceServer(manager){};
+
+::grpc::Status SensorServer::GetReadings(::grpc::ServerContext* context,
+                                         const GetReadingsRequest* request,
+                                         GetReadingsResponse* response) noexcept {
+    return make_service_helper<Sensor>(
+        "SensorServer::GetReadings", this, request)([&](auto& helper, auto& sensor) {
+        const AttributeMap result = sensor->get_readings(helper.getExtra());
+        for (const auto& r : *result) {
+            response->mutable_readings()->insert({r.first, r.second->proto_value()});
+        }
+    });
+}
+
+::grpc::Status SensorServer::DoCommand(grpc::ServerContext* context,
+                                       const DoCommandRequest* request,
+                                       DoCommandResponse* response) noexcept {
+    return make_service_helper<Sensor>(
+        "SensorServer::DoCommand", this, request)([&](auto& helper, auto& sensor) {
+        const AttributeMap result = sensor->do_command(struct_to_map(request->command()));
+        *response->mutable_result() = map_to_struct(result);
+    });
+}
+
+::grpc::Status SensorServer::GetGeometries(::grpc::ServerContext* context,
+                                           const GetGeometriesRequest* request,
+                                           GetGeometriesResponse* response) noexcept {
+    return make_service_helper<Sensor>(
+        "SensorServer::GetGeometries", this, request)([&](auto& helper, auto& sensor) {
+        const auto geometries = sensor->get_geometries(helper.getExtra());
+        for (const auto& geometry : geometries) {
+            *response->mutable_geometries()->Add() = geometry.to_proto();
+        }
+    });
+}
+
+void SensorServer::register_server(std::shared_ptr<Server> server) {
+    server->register_service(this);
+}
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/components/sensor/server.hpp b/src/viam/sdk/components/sensor/server.hpp
new file mode 100644
index 000000000..0c48a67ea
--- /dev/null
+++ b/src/viam/sdk/components/sensor/server.hpp
@@ -0,0 +1,42 @@
+/// @file components/sensor/server.hpp
+///
+/// @brief Implements a gRPC server for the `Sensor` component.
+#pragma once
+
+#include <viam/api/common/v1/common.pb.h>
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+
+#include <viam/sdk/resource/resource_manager.hpp>
+#include <viam/sdk/resource/resource_server_base.hpp>
+
+using namespace viam::common::v1;
+
+namespace viam {
+namespace sdk {
+
+/// @class SensorServer
+/// @brief gRPC server implementation of a `Sensor` component.
+/// @ingroup Sensor
+class SensorServer : public ResourceServer,
+                     public viam::component::sensor::v1::SensorService::Service {
+   public:
+    SensorServer();
+    explicit SensorServer(std::shared_ptr<ResourceManager> manager);
+
+    ::grpc::Status GetReadings(::grpc::ServerContext* context,
+                               const GetReadingsRequest* request,
+                               GetReadingsResponse* response) noexcept override;
+
+    ::grpc::Status DoCommand(::grpc::ServerContext* context,
+                             const DoCommandRequest* request,
+                             DoCommandResponse* response) noexcept override;
+
+    ::grpc::Status GetGeometries(::grpc::ServerContext* context,
+                                 const GetGeometriesRequest* request,
+                                 GetGeometriesResponse* response) noexcept override;
+
+    void register_server(std::shared_ptr<Server> server) override;
+};
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/registry/registry.hpp b/src/viam/sdk/registry/registry.hpp
index 9c99db5bf..e573c6665 100644
--- a/src/viam/sdk/registry/registry.hpp
+++ b/src/viam/sdk/registry/registry.hpp
@@ -58,6 +58,37 @@ class ResourceRegistration {
     const google::protobuf::ServiceDescriptor* service_descriptor_;
 };
 
+// TODO(RSDK-3030): Potentially make ResourceRegistration2 the one and only
+// form of resource registration.
+template <typename ResourceClientT,
+          typename ResourceServerT,
+          typename ProtoServiceT,
+          typename ResourceRegT>
+class ResourceRegistration2 : public ResourceRegistration {
+   public:
+    using ResourceRegistration::ResourceRegistration;
+    std::shared_ptr<ResourceServer> create_resource_server(
+        std::shared_ptr<ResourceManager> manager) override {
+        return std::make_shared<ResourceServerT>(manager);
+    }
+
+    std::shared_ptr<Resource> create_rpc_client(std::string name,
+                                                std::shared_ptr<grpc::Channel> chan) override {
+        return std::make_shared<ResourceClientT>(std::move(name), std::move(chan));
+    }
+
+    static std::shared_ptr<ResourceRegistration> resource_registration() {
+        const google::protobuf::DescriptorPool* p =
+            google::protobuf::DescriptorPool::generated_pool();
+        const google::protobuf::ServiceDescriptor* sd =
+            p->FindServiceByName(ProtoServiceT::service_full_name());
+        if (!sd) {
+            throw std::runtime_error("Unable to get service descriptor");
+        }
+        return std::make_shared<ResourceRegT>(sd);
+    }
+};
+
 /// @class ModelRegistration
 /// @brief Information about a registered model, including a constructor and config validator.
 class ModelRegistration {
diff --git a/src/viam/sdk/tests/CMakeLists.txt b/src/viam/sdk/tests/CMakeLists.txt
index 2bad24fb8..ae873406c 100644
--- a/src/viam/sdk/tests/CMakeLists.txt
+++ b/src/viam/sdk/tests/CMakeLists.txt
@@ -28,6 +28,7 @@ target_sources(viamsdk_test
     mocks/mock_motor.cpp
     mocks/mock_motion.cpp
     mocks/mock_movement_sensor.cpp
+    mocks/mock_sensor.cpp
     mocks/mock_robot.cpp
     test_utils.cpp
 )
@@ -46,5 +47,6 @@ viamcppsdk_add_boost_test(test_mlmodel.cpp)
 viamcppsdk_add_boost_test(test_motor.cpp)
 viamcppsdk_add_boost_test(test_motion.cpp)
 viamcppsdk_add_boost_test(test_movement_sensor.cpp)
+viamcppsdk_add_boost_test(test_sensor.cpp)
 viamcppsdk_add_boost_test(test_robot.cpp)
 viamcppsdk_add_boost_test(test_types.cpp)
diff --git a/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp b/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp
index 8ee15e82f..c8dbc8050 100644
--- a/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_movement_sensor.cpp
@@ -43,7 +43,7 @@ AttributeMap MockMovementSensor::do_command(const AttributeMap& command) {
     return command;
 };
 std::vector<sdk::GeometryConfig> MockMovementSensor::get_geometries(const AttributeMap& extra) {
-    return std::vector<sdk::GeometryConfig>();
+    return fake_geometries();
 };
 
 std::shared_ptr<MockMovementSensor> MockMovementSensor::get_mock_movementsensor() {
diff --git a/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp b/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp
index 73fd55005..46a017b32 100644
--- a/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp
+++ b/src/viam/sdk/tests/mocks/mock_movement_sensor.hpp
@@ -30,7 +30,6 @@ class MockMovementSensor : public sdk::MovementSensor {
 
     // These variables allow the testing infra to `peek` into the mock
     // and ensure that the correct values were passed
-    //
     sdk::Vector3 peek_return_vec;
     sdk::MovementSensor::compassheading peek_compass_heading;
     sdk::MovementSensor::orientation peek_orientation;
diff --git a/src/viam/sdk/tests/mocks/mock_sensor.cpp b/src/viam/sdk/tests/mocks/mock_sensor.cpp
new file mode 100644
index 000000000..c93e055e0
--- /dev/null
+++ b/src/viam/sdk/tests/mocks/mock_sensor.cpp
@@ -0,0 +1,34 @@
+#include <viam/sdk/tests/mocks/mock_sensor.hpp>
+
+#include <viam/api/common/v1/common.pb.h>
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+#include <viam/api/component/sensor/v1/sensor.pb.h>
+
+#include <viam/sdk/components/sensor/sensor.hpp>
+#include <viam/sdk/components/sensor/server.hpp>
+#include <viam/sdk/tests/test_utils.hpp>
+
+namespace viam {
+namespace sdktests {
+namespace sensor {
+
+using namespace viam::sdk;
+
+AttributeMap MockSensor::get_readings(const AttributeMap& extra) {
+    return fake_map();
+};
+AttributeMap MockSensor::do_command(const AttributeMap& command) {
+    return command;
+};
+std::vector<sdk::GeometryConfig> MockSensor::get_geometries(const AttributeMap& extra) {
+    return fake_geometries();
+};
+
+std::shared_ptr<MockSensor> MockSensor::get_mock_sensor() {
+    auto sensor = std::make_shared<MockSensor>("mock_sensor");
+    return sensor;
+}
+
+}  // namespace sensor
+}  // namespace sdktests
+}  // namespace viam
diff --git a/src/viam/sdk/tests/mocks/mock_sensor.hpp b/src/viam/sdk/tests/mocks/mock_sensor.hpp
new file mode 100644
index 000000000..8dc4a27d6
--- /dev/null
+++ b/src/viam/sdk/tests/mocks/mock_sensor.hpp
@@ -0,0 +1,28 @@
+#pragma once
+
+#include <viam/api/common/v1/common.pb.h>
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+#include <viam/api/component/sensor/v1/sensor.pb.h>
+
+#include <viam/sdk/common/proto_type.hpp>
+#include <viam/sdk/components/sensor/client.hpp>
+#include <viam/sdk/components/sensor/sensor.hpp>
+#include <viam/sdk/components/sensor/server.hpp>
+
+namespace viam {
+namespace sdktests {
+namespace sensor {
+
+class MockSensor : public sdk::Sensor {
+   public:
+    sdk::AttributeMap get_readings(const sdk::AttributeMap& extra) override;
+    sdk::AttributeMap do_command(const sdk::AttributeMap& command) override;
+    static std::shared_ptr<MockSensor> get_mock_sensor();
+    std::vector<sdk::GeometryConfig> get_geometries(const sdk::AttributeMap& extra) override;
+
+    MockSensor(std::string name) : Sensor(std::move(name)){};
+};
+
+}  // namespace sensor
+}  // namespace sdktests
+}  // namespace viam
diff --git a/src/viam/sdk/tests/test_movement_sensor.cpp b/src/viam/sdk/tests/test_movement_sensor.cpp
index f6f49a9c6..5597fcd91 100644
--- a/src/viam/sdk/tests/test_movement_sensor.cpp
+++ b/src/viam/sdk/tests/test_movement_sensor.cpp
@@ -173,6 +173,15 @@ BOOST_AUTO_TEST_CASE(test_do_command) {
         });
 }
 
+BOOST_AUTO_TEST_CASE(test_get_geometries) {
+    server_to_mock_pipeline(
+        [](MovementSensor& client, std::shared_ptr<MockMovementSensor> mock) -> void {
+            std::vector<sdk::GeometryConfig> expected = fake_geometries();
+            std::vector<sdk::GeometryConfig> geometries = client.get_geometries();
+            BOOST_CHECK(expected == geometries);
+        });
+}
+
 BOOST_AUTO_TEST_SUITE_END()
 
 }  // namespace sdktests
diff --git a/src/viam/sdk/tests/test_sensor.cpp b/src/viam/sdk/tests/test_sensor.cpp
new file mode 100644
index 000000000..66199aec7
--- /dev/null
+++ b/src/viam/sdk/tests/test_sensor.cpp
@@ -0,0 +1,109 @@
+#define BOOST_TEST_MODULE test module test_sensor
+#include <typeinfo>
+#include <unordered_map>
+#include <utility>
+#include <vector>
+
+#include <boost/qvm/all.hpp>
+#include <boost/test/included/unit_test.hpp>
+
+#include <viam/api/common/v1/common.pb.h>
+#include <viam/api/component/sensor/v1/sensor.grpc.pb.h>
+#include <viam/api/component/sensor/v1/sensor.pb.h>
+
+#include <viam/sdk/common/proto_type.hpp>
+#include <viam/sdk/components/sensor/client.hpp>
+#include <viam/sdk/components/sensor/sensor.hpp>
+#include <viam/sdk/components/sensor/server.hpp>
+#include <viam/sdk/spatialmath/geometry.hpp>
+#include <viam/sdk/tests/mocks/mock_sensor.hpp>
+#include <viam/sdk/tests/test_utils.hpp>
+
+BOOST_TEST_DONT_PRINT_LOG_VALUE(std::vector<viam::sdk::GeometryConfig>)
+
+namespace viam {
+namespace sdktests {
+
+using namespace sensor;
+
+using namespace viam::sdk;
+
+BOOST_AUTO_TEST_SUITE(test_sensor)
+
+// This sets up the following architecture
+// -- MockComponent
+//        /\
+//
+//        | (function calls)
+//
+//        \/
+// -- ComponentServer (Real)
+//        /\
+//
+//        | (grpc InProcessChannel)
+//
+//        \/
+// -- ComponentClient (Real)
+//
+// This is as close to a real setup as we can get
+// without starting another process
+//
+// The passed in lambda function has access to the ComponentClient
+//
+template <typename Lambda>
+void server_to_mock_pipeline(Lambda&& func) {
+    SensorServer sensor_server;
+    std::shared_ptr<MockSensor> mock = MockSensor::get_mock_sensor();
+    sensor_server.resource_manager()->add(std::string("mock_sensor"), mock);
+
+    grpc::ServerBuilder builder;
+    builder.RegisterService(&sensor_server);
+
+    std::unique_ptr<grpc::Server> server = builder.BuildAndStart();
+
+    grpc::ChannelArguments args;
+    auto grpc_channel = server->InProcessChannel(args);
+    SensorClient client("mock_sensor", grpc_channel);
+    // Run the passed test on the created stack
+    std::forward<Lambda>(func)(client, mock);
+    // shutdown afterwards
+    server->Shutdown();
+}
+
+BOOST_AUTO_TEST_CASE(test_get_readings) {
+    server_to_mock_pipeline([](Sensor& client, std::shared_ptr<MockSensor> mock) -> void {
+        AttributeMap expected = fake_map();
+
+        AttributeMap readings = client.get_readings();
+
+        ProtoType expected_pt = *(expected->at(std::string("test")));
+        ProtoType result_pt = *(readings->at(std::string("test")));
+        BOOST_CHECK(result_pt == expected_pt);
+    });
+}
+
+BOOST_AUTO_TEST_CASE(test_do_command) {
+    server_to_mock_pipeline([](Sensor& client, std::shared_ptr<MockSensor> mock) -> void {
+        AttributeMap expected = fake_map();
+
+        AttributeMap command = fake_map();
+        AttributeMap result_map = client.do_command(command);
+
+        ProtoType expected_pt = *(expected->at(std::string("test")));
+        ProtoType result_pt = *(result_map->at(std::string("test")));
+        BOOST_CHECK(result_pt == expected_pt);
+    });
+}
+
+BOOST_AUTO_TEST_CASE(test_get_geometries) {
+    server_to_mock_pipeline([](Sensor& client, std::shared_ptr<MockSensor> mock) -> void {
+        std::vector<sdk::GeometryConfig> expected = fake_geometries();
+        std::vector<sdk::GeometryConfig> geometries = client.get_geometries();
+        BOOST_CHECK(expected == geometries);
+    });
+}
+
+BOOST_AUTO_TEST_SUITE_END()
+
+}  // namespace sdktests
+}  // namespace viam