diff --git a/components/generic/collectors.go b/components/generic/collectors.go
new file mode 100644
index 00000000000..783c01c7499
--- /dev/null
+++ b/components/generic/collectors.go
@@ -0,0 +1,100 @@
+package generic
+
+import (
+	"context"
+	"errors"
+	"time"
+
+	"go.viam.com/rdk/data"
+	"go.viam.com/rdk/logging"
+	"go.viam.com/rdk/resource"
+	"google.golang.org/protobuf/types/known/anypb"
+	"google.golang.org/protobuf/types/known/structpb"
+)
+
+type method int64
+
+const (
+	readings method = iota
+)
+
+func (m method) String() string {
+	if m == readings {
+		return "Readings"
+	}
+	return "Unknown"
+}
+func methodParamsFromProto(proto map[string]*anypb.Any) (map[string]interface{}, error) {
+	methodParameters := make(map[string]interface{})
+
+	// logger := logging.NewLogger("test")
+	for key, value := range proto {
+		if value == nil {
+			methodParameters[key] = nil
+		}
+		// structValue := &structpb.Value_StringValue{}
+		// if err := value.(structValue); err != nil {
+		// 	logger.Info(value.TypeUrl)
+		// 	return nil, err
+		// }
+		methodParameters[key] = string(value.GetValue())
+	}
+
+	return methodParameters, nil
+}
+
+// newCommandCollector returns a collector to register a sensor reading method. If one is already registered
+// with the same MethodMetadata it will panic.
+func newCommandCollector(resource interface{}, params data.CollectorParams) (data.Collector, error) {
+	reso, err := assertResource(resource)
+	if err != nil {
+		return nil, err
+	}
+
+	logger := logging.NewLogger("test")
+	cFunc := data.CaptureFunc(func(ctx context.Context, arg map[string]*anypb.Any) (data.CaptureResult, error) {
+		timeRequested := time.Now()
+		var res data.CaptureResult
+
+		var s structpb.Struct
+		if err := params.MethodParams["docommand_payload"].UnmarshalTo(&s); err != nil {
+			logger.Info(err)
+			return res, err
+		}
+
+		logger.Info(s.AsMap())
+
+		payload := s.AsMap()
+		if err != nil {
+			return res, err
+		}
+		logger.Infof("capturing docommand with payload %#v\n", payload)
+
+		values, err := reso.DoCommand(ctx, payload)
+
+		if err != nil {
+			// A modular filter component can be created to filter the readings from a component. The error ErrNoCaptureToStore
+			// is used in the datamanager to exclude readings from being captured and stored.
+			if errors.Is(err, data.ErrNoCaptureToStore) {
+				return res, err
+			}
+			return res, data.FailedToReadErr(params.ComponentName, readings.String(), err)
+		}
+		ts := data.Timestamps{TimeRequested: timeRequested, TimeReceived: time.Now()}
+		return data.NewTabularCaptureResultReadings(ts, values)
+	})
+	return data.NewCollector(cFunc, params)
+}
+
+type Resource interface {
+	resource.Resource
+}
+
+func assertResource(resource interface{}) (Resource, error) {
+	res, ok := resource.(Resource)
+	if !ok {
+		return nil, data.InvalidInterfaceErr(API)
+	}
+
+	return res, nil
+}
diff --git a/components/generic/collectors_test.go b/components/generic/collectors_test.go
new file mode 100644
index 00000000000..06a64526f8b
--- /dev/null
+++ b/components/generic/collectors_test.go
@@ -0,0 +1,55 @@
+package generic_test
+
+import (
+	"context"
+	"testing"
+	"time"
+
+	"github.com/benbjohnson/clock"
+	datasyncpb "go.viam.com/api/app/datasync/v1"
+	"go.viam.com/test"
+
+	"go.viam.com/rdk/components/generic"
+	"go.viam.com/rdk/data"
+	"go.viam.com/rdk/logging"
+	tu "go.viam.com/rdk/testutils"
+	"go.viam.com/rdk/testutils/inject"
+)
+
+const (
+	captureInterval = time.Millisecond
+)
+
+var readingMap = map[string]any{"reading1": false, "reading2": "test"}
+
+func TestCollectors(t *testing.T) {
+	start := time.Now()
+	buf := tu.NewMockBuffer(t)
+	params := data.CollectorParams{
+		DataType:      data.CaptureTypeTabular,
+		ComponentName: "generic",
+		Interval:      captureInterval,
+		Logger:        logging.NewTestLogger(t),
+		Target:        buf,
+		Clock:         clock.New(),
+	}
+
+	gens := &inject.GenericComponent{}
+	col, err := generic.NewCommandCollector(gens, params)
+	test.That(t, err, test.ShouldBeNil)
+
+	defer col.Close()
+	col.Collect()
+
+	ctx, cancel := context.WithTimeout(context.Background(), time.Second)
+	defer cancel()
+	tu.CheckMockBufferWrites(t, ctx, start, buf.Writes, []*datasyncpb.SensorData{{
+		Metadata: &datasyncpb.SensorMetadata{},
+		Data: &datasyncpb.SensorData_Struct{Struct: tu.ToStructPBStruct(t, map[string]any{
+			"readings": map[string]any{
+				"hi": "bye",
+			},
+		})},
+	}})
+	buf.Close()
+}
diff --git a/components/generic/export_collectors_test.go b/components/generic/export_collectors_test.go
new file mode 100644
index 00000000000..3fa594ef887
--- /dev/null
+++ b/components/generic/export_collectors_test.go
@@ -0,0 +1,5 @@
+// export_collectors_test.go adds functionality to the package that we only want to use and expose during testing.
+package generic
+
+// Exported variables for testing collectors, see unexported collectors for implementation details.
+var NewCommandCollector = newCommandCollector
diff --git a/components/generic/generic.go b/components/generic/generic.go
index 99cb60acbac..a4b2aeb24c6 100644
--- a/components/generic/generic.go
+++ b/components/generic/generic.go
@@ -7,6 +7,7 @@ package generic
 import (
 	pb "go.viam.com/api/component/generic/v1"
 
+	"go.viam.com/rdk/data"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/robot"
 )
@@ -18,6 +19,10 @@ func init() {
 		RPCServiceDesc:              &pb.GenericService_ServiceDesc,
 		RPCClient:                   NewClientFromConn,
 	})
+	data.RegisterCollector(data.MethodMetadata{
+		API:        API,
+		MethodName: "DoCommand",
+	}, newCommandCollector)
 }
 
 // SubtypeName is a constant that identifies the component resource API string "Generic".
diff --git a/data/capture_file.go b/data/capture_file.go
index 3e4dc3be569..8f6c3788b2a 100644
--- a/data/capture_file.go
+++ b/data/capture_file.go
@@ -213,7 +213,7 @@ func BuildCaptureMetadata(
 	api resource.API,
 	name string,
 	method string,
-	additionalParams map[string]string,
+	additionalParams map[string]interface{},
 	methodParams map[string]*anypb.Any,
 	tags []string,
 ) (*v1.DataCaptureMetadata, CaptureType) {
diff --git a/data/collector_types.go b/data/collector_types.go
index 5d69f576cab..e4df2f9c5dd 100644
--- a/data/collector_types.go
+++ b/data/collector_types.go
@@ -377,7 +377,7 @@ const (
 )
 
 // getFileExt gets the file extension for a capture file.
-func getFileExt(dataType CaptureType, methodName string, parameters map[string]string) string {
+func getFileExt(dataType CaptureType, methodName string, parameters map[string]interface{}) string {
 	switch dataType {
 	case CaptureTypeTabular:
 		return ExtDat
diff --git a/services/datamanager/builtin/capture/capture.go b/services/datamanager/builtin/capture/capture.go
index 47d10b700ea..4cad49a4b1f 100644
--- a/services/datamanager/builtin/capture/capture.go
+++ b/services/datamanager/builtin/capture/capture.go
@@ -13,10 +13,12 @@ import (
 	"go.mongodb.org/mongo-driver/mongo"
 	"go.mongodb.org/mongo-driver/mongo/options"
 	goutils "go.viam.com/utils"
+	"google.golang.org/protobuf/proto"
+	"google.golang.org/protobuf/types/known/anypb"
+	"google.golang.org/protobuf/types/known/structpb"
 
 	"go.viam.com/rdk/data"
 	"go.viam.com/rdk/logging"
-	"go.viam.com/rdk/protoutils"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/services/datamanager"
 )
@@ -277,7 +279,7 @@ func (c *Capture) initializeOrUpdateCollector(
 	collection *mongo.Collection,
 ) (*collectorAndConfig, error) {
 	// TODO(DATA-451): validate method params
-	methodParams, err := protoutils.ConvertStringMapToAnyPBMap(collectorConfig.AdditionalParams)
+	methodParams, err := convertMapToAnyMap(collectorConfig.AdditionalParams)
 	if err != nil {
 		return nil, err
 	}
@@ -441,3 +443,39 @@ func defaultIfZeroVal[T comparable](val, defaultVal T) T {
 	}
 	return val
 }
+
+func convertMapToAnyMap(input map[string]interface{}) (map[string]*anypb.Any, error) {
+	output := make(map[string]*anypb.Any)
+
+	for key, val := range input {
+		var msg proto.Message
+
+		switch typed := val.(type) {
+		case map[string]interface{}:
+			// For nested maps, convert to structpb.Struct
+			structVal, err := structpb.NewStruct(typed)
+			if err != nil {
+				return nil, fmt.Errorf("error converting key %q to structpb.Struct: %w", key, err)
+			}
+			msg = structVal
+
+		default:
+			// For primitive types, convert to structpb.Value
+			value, err := structpb.NewValue(val)
+			if err != nil {
+				return nil, fmt.Errorf("error converting key %q to structpb.Value: %w", key, err)
+			}
+			msg = value
+		}
+
+		// Pack the actual message (Value or Struct) into an Any
+		anyVal, err := anypb.New(msg)
+		if err != nil {
+			return nil, fmt.Errorf("error packing key %q into Any: %w", key, err)
+		}
+
+		output[key] = anyVal
+	}
+
+	return output, nil
+}
diff --git a/services/datamanager/data_manager.go b/services/datamanager/data_manager.go
index 1310f1ca0b8..e9206a64c39 100644
--- a/services/datamanager/data_manager.go
+++ b/services/datamanager/data_manager.go
@@ -141,15 +141,15 @@ func (ac *AssociatedConfig) Link(conf *resource.Config) {
 
 // DataCaptureConfig is used to initialize a collector for a component or remote.
 type DataCaptureConfig struct {
-	Name               resource.Name     `json:"name"`
-	Method             string            `json:"method"`
-	CaptureFrequencyHz float32           `json:"capture_frequency_hz"`
-	CaptureQueueSize   int               `json:"capture_queue_size"`
-	CaptureBufferSize  int               `json:"capture_buffer_size"`
-	AdditionalParams   map[string]string `json:"additional_params"`
-	Disabled           bool              `json:"disabled"`
-	Tags               []string          `json:"tags,omitempty"`
-	CaptureDirectory   string            `json:"capture_directory"`
+	Name               resource.Name          `json:"name"`
+	Method             string                 `json:"method"`
+	CaptureFrequencyHz float32                `json:"capture_frequency_hz"`
+	CaptureQueueSize   int                    `json:"capture_queue_size"`
+	CaptureBufferSize  int                    `json:"capture_buffer_size"`
+	AdditionalParams   map[string]interface{} `json:"additional_params"`
+	Disabled           bool                   `json:"disabled"`
+	Tags               []string               `json:"tags,omitempty"`
+	CaptureDirectory   string                 `json:"capture_directory"`
 }
 
 // Equals checks if one capture config is equal to another.