diff --git a/core/sdk/src/main/java/com/viam/sdk/core/component/servo/ServoRPCService.java b/core/sdk/src/main/java/com/viam/sdk/core/component/servo/ServoRPCService.java
index ebde4799..5edbefb6 100644
--- a/core/sdk/src/main/java/com/viam/sdk/core/component/servo/ServoRPCService.java
+++ b/core/sdk/src/main/java/com/viam/sdk/core/component/servo/ServoRPCService.java
@@ -1,4 +1,5 @@
 package com.viam.sdk.core.component.servo;
+ import com.google.protobuf.Struct;
  import com.viam.common.v1.Common;
  import com.viam.component.servo.v1.ServoServiceGrpc;
  import com.viam.sdk.core.resource.ResourceRPCService;
@@ -62,6 +63,14 @@ public void getGeometries(com.viam.common.v1.Common.GetGeometriesRequest request
         List<Common.Geometry> geometries = servo.getGeometries(Optional.ofNullable(request.getExtra()));
         responseObserver.onNext(Common.GetGeometriesResponse.newBuilder().addAllGeometries(geometries).build());
         responseObserver.onCompleted();
+    }
+    @Override
+    public void doCommand(Common.DoCommandRequest request,
+                          StreamObserver<Common.DoCommandResponse> responseObserver) {
 
+        Servo servo = getResource(Servo.named(request.getName()));
+        Struct result = servo.doCommand(request.getCommand().getFieldsMap());
+        responseObserver.onNext(Common.DoCommandResponse.newBuilder().setResult(result).build());
+        responseObserver.onCompleted();
     }
 }
diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCClientTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCClientTest.kt
index 119219b6..917142f4 100644
--- a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCClientTest.kt
+++ b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCClientTest.kt
@@ -79,4 +79,14 @@ class ServoRPCClientTest {
         assertEquals(80, pos)
     }
 
+    @Test
+    fun doCommand() {
+        val command = mapOf("foo" to Value.newBuilder().setStringValue("bar").build())
+        doReturn(Struct.newBuilder().putAllFields(command).build()).`when`(servo).doCommand(anyMap())
+        val response = client.doCommand(command)
+        verify(servo).doCommand(command)
+        assertEquals(command, response.fieldsMap)
+    }
+
+
 }
diff --git a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCServiceTest.kt b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCServiceTest.kt
index 9e0ab57e..cc7ce585 100644
--- a/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCServiceTest.kt
+++ b/core/sdk/src/test/kotlin/com/viam/sdk/core/component/servo/ServoRPCServiceTest.kt
@@ -92,4 +92,15 @@ class ServoRPCServiceTest {
         verify(servo).getGeometries(Optional.of(Struct.getDefaultInstance()))
     }
 
+    @Test
+    fun doCommand(){
+        val command =
+            Struct.newBuilder().putAllFields(mapOf("foo" to Value.newBuilder().setStringValue("bar").build())).build()
+        doReturn(command).`when`(servo).doCommand(anyMap())
+        val request = Common.DoCommandRequest.newBuilder().setName(servo.name.name).setCommand(command).build()
+        val response = client.doCommand(request)
+        verify(servo).doCommand(command.fieldsMap)
+        assertEquals(command, response.result)
+    }
+
 }
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