def getGeometry(self, cmd):

        db = self.connectToDB(cmd)

        cmd.inform(f'text="getting geometry"')

        if(self.geometrySet == True):
            cmd.inform('text="geometry is already set"')
            return

        # boresight centre in pixels
        self.rotCent = dbTools.loadBoresightFromDB(db, int(self.visitId))
        cmd.inform(f'text="boresight={self.rotCent[0]},{self.rotCent[1]}"')

        # read xmlFile
        instPath = os.path.join(os.environ['PFS_INSTDATA_DIR'])
        #if(self.geomFile == None):
        #    self.geomFile = os.path.join(instPath, 'data/pfi/modules/ALL/ALL_final_20210920_mm.xml')
        if(self.dotFile == None):
            self.dotFile = os.path.join(
                instPath, "data/pfi/dot/black_dots_mm.csv")

        pfi = self.butler.get("moduleXml", moduleName="ALL", version="")
        dots = self.butler.get("black_dots", moduleName="ALL", version="")

        cmd.inform(f'text="loading XML from butler"')
        cmd.inform(f'text="loading DOT location from butler"')
        self.centrePos, self.armLength, self.dotPos, self.goodIdx, self.calibModel = mcsTools.readCobraGeometry(
            pfi, dots)
        
        fids = self.butler.get('fiducials')
        self.outerRingIds, self.badFidIds = mcsTools.readFiducialMasks(fids)
        cmd.inform('text="cobra geometry read"')
        self.geometrySet = True