diff --git a/lib/src/components/movement_sensor/client.dart b/lib/src/components/movement_sensor/client.dart
index ad1786cff9..c61dfe03e5 100644
--- a/lib/src/components/movement_sensor/client.dart
+++ b/lib/src/components/movement_sensor/client.dart
@@ -27,7 +27,7 @@ class MovementSensorClient extends MovementSensor implements ResourceRPCClient {
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
     final response = await client.getReadings(request);
-    return response.readings.map((key, value) => MapEntry(key, value.toPrimitive()));
+    return response.toPrimitive();
   }
 
   @override
diff --git a/lib/src/components/sensor/client.dart b/lib/src/components/sensor/client.dart
index 55662f5745..74a569a3db 100644
--- a/lib/src/components/sensor/client.dart
+++ b/lib/src/components/sensor/client.dart
@@ -27,7 +27,7 @@ class SensorClient extends Sensor implements ResourceRPCClient {
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
     final response = await client.getReadings(request);
-    return response.readings.map((key, value) => MapEntry(key, value.toPrimitive()));
+    return response.toPrimitive();
   }
 
   @override
diff --git a/lib/src/utils.dart b/lib/src/utils.dart
index 327f81a9a9..1fe99cd727 100644
--- a/lib/src/utils.dart
+++ b/lib/src/utils.dart
@@ -2,6 +2,8 @@ import 'package:fixnum/fixnum.dart';
 import 'package:grpc/grpc.dart';
 import 'package:logger/logger.dart';
 
+import 'gen/app/v1/robot.pb.dart';
+import 'gen/common/v1/common.pb.dart';
 import 'gen/google/protobuf/duration.pb.dart' as grpc_duration;
 import 'gen/google/protobuf/struct.pb.dart';
 
@@ -92,6 +94,27 @@ grpc_duration.Duration durationToProto(Duration duration) {
     ..nanos = micros * 1000;
 }
 
+extension GetReadingsResponseUtils on GetReadingsResponse {
+  Map<String, dynamic> toPrimitive() {
+    return readings.map((key, value) => MapEntry(key, value.toPrimitive())).map((key, value) {
+      if (value is Map<String, dynamic> && value.keys.contains('_type')) {
+        dynamic primValue;
+        switch (value['_type']) {
+          case 'euler':
+            primValue = Orientation_EulerAngles(roll: value['roll'], pitch: value['pitch'], yaw: value['yaw']);
+          case 'vector3':
+          case 'angular_velocity':
+            primValue = Vector3(x: value['x'], y: value['y'], z: value['z']);
+          case 'geopoint':
+            primValue = GeoPoint(latitude: value['lat'], longitude: value['lng']);
+        }
+        return MapEntry(key, primValue);
+      }
+      return MapEntry(key, value);
+    });
+  }
+}
+
 String getVersionMetadata() {
   const String sdkVersion = 'v0.0.26';
   const String apiTag = 'v0.1.361';
diff --git a/test/unit_test/utils/utils_test.dart b/test/unit_test/utils/utils_test.dart
index 8526c655fe..944a267d9f 100644
--- a/test/unit_test/utils/utils_test.dart
+++ b/test/unit_test/utils/utils_test.dart
@@ -2,6 +2,8 @@
 
 import 'package:flutter_test/flutter_test.dart';
 import 'package:grpc/grpc_connection_interface.dart';
+import 'package:viam_sdk/protos/app/robot.dart';
+import 'package:viam_sdk/protos/common/common.dart';
 import 'package:viam_sdk/src/gen/google/protobuf/struct.pb.dart';
 import 'package:viam_sdk/src/utils.dart';
 
@@ -198,5 +200,24 @@ void main() {
         }
       });
     });
+
+    group('GetReadingsResponseUtils', () {
+      test('toPrimitive', () {
+        final input = {
+          'velocity': Value(structValue: {'_type': 'vector3', 'x': 1, 'y': 2, 'z': 3}.toStruct()),
+          'geopoint': Value(structValue: {'_type': 'geopoint', 'lat': 12.3, 'lng': 45.6}.toStruct()),
+          'angular_velocity': Value(structValue: {'_type': 'angular_velocity', 'x': 1, 'y': 2, 'z': 3}.toStruct()),
+          'euler': Value(structValue: {'_type': 'euler', 'roll': 1, 'pitch': 2, 'yaw': 3}.toStruct()),
+          'no_change': Value(numberValue: 182),
+        };
+        final response = GetReadingsResponse(readings: input);
+        final output = response.toPrimitive();
+        expect(output['velocity'], Vector3(x: 1, y: 2, z: 3));
+        expect(output['geopoint'], GeoPoint(latitude: 12.3, longitude: 45.6));
+        expect(output['angular_velocity'], Vector3(x: 1, y: 2, z: 3));
+        expect(output['euler'], Orientation_EulerAngles(roll: 1, pitch: 2, yaw: 3));
+        expect(output['no_change'], 182);
+      });
+    });
   });
 }