diff --git a/src/module/device_control.hpp b/src/module/device_control.hpp
index d00813b..37f48a8 100644
--- a/src/module/device_control.hpp
+++ b/src/module/device_control.hpp
@@ -225,7 +225,7 @@ viam::sdk::ProtoStruct setDeviceProperty(std::shared_ptr<DeviceT> device,
         }
     }
 
-    return {};
+    return {{"error", "property not supported: " + property_map.begin()->first}};
 }
 
 // Get property list
@@ -253,11 +253,13 @@ viam::sdk::ProtoStruct setDeviceProperties(std::shared_ptr<DeviceT> device,
         return {{"error", "properties must be a struct"}};
     }
     std::unordered_set<std::string> writable_properties;
+    std::unordered_set<std::string> seen_properties;
     auto const& properties_map = properties.template get_unchecked<viam::sdk::ProtoStruct>();
     int const supportedPropertyCount = device->getSupportedPropertyCount();
     for (int i = 0; i < supportedPropertyCount; i++) {
         OBPropertyItem property_item = device->getSupportedProperty(i);
         if (properties_map.count(property_item.name) > 0) {
+            seen_properties.insert(property_item.name);
             if (property_item.permission == OB_PERMISSION_DENY || property_item.permission == OB_PERMISSION_READ) {
                 std::stringstream error_ss;
                 error_ss << "Property " << property_item.name << " is not writable, skipping.";
@@ -299,6 +301,11 @@ viam::sdk::ProtoStruct setDeviceProperties(std::shared_ptr<DeviceT> device,
             }
         }
     }
+    for (auto const& [name, _] : properties_map) {
+        if (seen_properties.count(name) == 0) {
+            return {{"error", "property not supported: " + name}};
+        }
+    }
     return getDeviceProperties(device, command, writable_properties);
 }
 
diff --git a/src/module/orbbec.cpp b/src/module/orbbec.cpp
index b32952e..3698703 100644
--- a/src/module/orbbec.cpp
+++ b/src/module/orbbec.cpp
@@ -1471,6 +1471,9 @@ vsdk::Camera::image_collection Orbbec::get_images(std::vector<std::string> filte
 }
 
 vsdk::ProtoStruct Orbbec::do_command(const vsdk::ProtoStruct& command) {
+    if (command.empty()) {
+        return vsdk::ProtoStruct{{"error", std::string("empty command")}};
+    }
     bool call_get_properties = false;
     try {
         constexpr char firmware_key[] = "update_firmware";
@@ -1484,7 +1487,8 @@ vsdk::ProtoStruct Orbbec::do_command(const vsdk::ProtoStruct& command) {
             const std::lock_guard<std::mutex> lock(devices_by_serial_mu());
             auto search = devices_by_serial().find(serial_number);
             if (search == devices_by_serial().end()) {
-                throw std::invalid_argument("device is not connected");
+                VIAM_RESOURCE_LOG(error) << "[do_command] device is not connected";
+                return vsdk::ProtoStruct{{"error", std::string("device is not connected")}};
             }
 
             std::unique_ptr<ViamOBDevice>& dev = search->second;
@@ -1573,6 +1577,9 @@ vsdk::ProtoStruct Orbbec::do_command(const vsdk::ProtoStruct& command) {
                     return device_control::createModuleConfig<ViamOBDevice, ob::VideoStreamProfile>(dev);
                 } else if (key == "call_get_properties") {
                     call_get_properties = true;
+                } else {
+                    VIAM_RESOURCE_LOG(error) << "[do_command] unknown command: " << key;
+                    return vsdk::ProtoStruct{{"error", "unknown command: " + key}};
                 }
             }
         }  // unlock devices_by_serial_mu_
@@ -1601,6 +1608,7 @@ vsdk::ProtoStruct Orbbec::do_command(const vsdk::ProtoStruct& command) {
         }
     } catch (const std::exception& e) {
         VIAM_RESOURCE_LOG(error) << service_name << ": exception caught: " << e.what();
+        return vsdk::ProtoStruct{{"error", std::string(e.what())}};
     }
     return vsdk::ProtoStruct{};
 }