diff --git a/src/viam/sdk/CMakeLists.txt b/src/viam/sdk/CMakeLists.txt
index 8b5990d55..4805e1c07 100644
--- a/src/viam/sdk/CMakeLists.txt
+++ b/src/viam/sdk/CMakeLists.txt
@@ -37,6 +37,7 @@ endif()
 target_sources(viamsdk
   PRIVATE
     common/client_helper.cpp
+    common/exception.cpp
     common/linear_algebra.cpp
     common/pose.cpp
     common/proto_type.cpp
@@ -109,6 +110,7 @@ target_sources(viamsdk
       ../..
     FILES
       ../../viam/sdk/common/client_helper.hpp
+      ../../viam/sdk/common/exception.hpp
       ../../viam/sdk/common/linear_algebra.hpp
       ../../viam/sdk/common/pose.hpp
       ../../viam/sdk/common/proto_type.hpp
diff --git a/src/viam/sdk/common/client_helper.hpp b/src/viam/sdk/common/client_helper.hpp
index 42a52a7ff..703d072ec 100644
--- a/src/viam/sdk/common/client_helper.hpp
+++ b/src/viam/sdk/common/client_helper.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <grpcpp/client_context.h>
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/common/utils.hpp>
 
@@ -16,7 +17,7 @@ class ClientHelper {
     static void default_rsc_(RequestType&) {}
     static void default_rhc_(const ResponseType&) {}
     static void default_ehc_(const ::grpc::Status& status) {
-        throw std::runtime_error(status.error_message());
+        throw GRPCException(status);
     }
 
    public:
diff --git a/src/viam/sdk/common/exception.cpp b/src/viam/sdk/common/exception.cpp
new file mode 100644
index 000000000..f9832e122
--- /dev/null
+++ b/src/viam/sdk/common/exception.cpp
@@ -0,0 +1,56 @@
+#include <viam/sdk/common/exception.hpp>
+
+namespace viam {
+namespace sdk {
+
+Exception::Exception(ErrorCondition condition, const std::string& what)
+    : std::runtime_error("viam::sdk::Exception: " + what), condition_(condition){};
+
+Exception::Exception(const std::string& what) : Exception(ErrorCondition::k_general, what){};
+
+Exception::~Exception() = default;
+
+const std::error_condition& Exception::condition() const noexcept {
+    return condition_;
+};
+
+std::error_condition make_error_condition(ErrorCondition e) {
+    struct ErrorCategory : std::error_category {
+        const char* name() const noexcept override {
+            return "viam::sdk";
+        };
+        std::string message(int ev) const override {
+            switch (static_cast<ErrorCondition>(ev)) {
+                case ErrorCondition::k_general:
+                    return "general";
+                case ErrorCondition::k_connection:
+                    return "connection establishment failure";
+                case ErrorCondition::k_duplicate_registration:
+                    return "duplicate registration";
+                case ErrorCondition::k_duplicate_resource:
+                    return "duplicate resource";
+                case ErrorCondition::k_grpc:
+                    return "gRPC";
+                case ErrorCondition::k_not_supported:
+                    return "not supported";
+                case ErrorCondition::k_resource_not_found:
+                    return "resource not found";
+                default:
+                    return "unknown";
+            }
+        };
+    };
+
+    static const ErrorCategory errorCategory{};
+    return {static_cast<int>(e), errorCategory};
+}
+
+GRPCException::GRPCException(grpc::Status status)
+    : Exception(ErrorCondition::k_grpc, status.error_message()), status_(std::move(status)){};
+
+const grpc::Status& GRPCException::status() const noexcept {
+    return status_;
+}
+
+}  // namespace sdk
+}  // namespace viam
diff --git a/src/viam/sdk/common/exception.hpp b/src/viam/sdk/common/exception.hpp
new file mode 100644
index 000000000..c9ab11e3b
--- /dev/null
+++ b/src/viam/sdk/common/exception.hpp
@@ -0,0 +1,66 @@
+/// @file common/exception.hpp
+///
+/// @brief Defines custom exceptions for the SDK.
+#pragma once
+#include <grpcpp/support/status.h>
+#include <stdexcept>
+#include <string>
+
+#include <viam/sdk/resource/resource_api.hpp>
+
+namespace viam {
+namespace sdk {
+
+/// @defgroup Exception Classes related to SDK exceptions.
+
+/// @class ErrorCondition
+/// @brief Defines a set of a error conditions to be used in conjunction with
+/// Exception.
+/// @ingroup Exception
+enum class ErrorCondition : uint8_t {
+    k_general = 0,                 // Default condition
+    k_connection = 1,              // Issue during connection establishment
+    k_duplicate_registration = 2,  // API or API/Model pair has already been registered
+    k_duplicate_resource = 3,      // Resource has already been added
+    k_grpc = 4,                    // gRPC error from remote machine
+    k_not_supported = 5,           // Behavior not supported by the SDK
+    k_resource_not_found = 6       // Resource does not exist
+};
+
+std::error_condition make_error_condition(ErrorCondition e);
+
+/// @class Exception
+/// @brief Defines an exception type for the SDK.
+/// @ingroup Exception
+class Exception : public std::runtime_error {
+   public:
+    explicit Exception(ErrorCondition condition, const std::string& what);
+    explicit Exception(const std::string& what);
+    virtual ~Exception();
+
+    const std::error_condition& condition() const noexcept;
+
+   private:
+    std::error_condition condition_;
+};
+
+/// @class GRPCException
+/// @brief Defines an exception from a gRPC interaction.
+/// @ingroup Exception
+class GRPCException : public Exception {
+   public:
+    explicit GRPCException(grpc::Status status);
+
+    const grpc::Status& status() const noexcept;
+
+   private:
+    grpc::Status status_;
+};
+
+}  // namespace sdk
+}  // namespace viam
+
+namespace std {
+template <>
+struct is_error_condition_enum<viam::sdk::ErrorCondition> : true_type {};
+}  // namespace std
diff --git a/src/viam/sdk/common/proto_type.cpp b/src/viam/sdk/common/proto_type.cpp
index 01a6fc879..c0d10d252 100644
--- a/src/viam/sdk/common/proto_type.cpp
+++ b/src/viam/sdk/common/proto_type.cpp
@@ -10,6 +10,7 @@
 #include <boost/variant/variant.hpp>
 #include <google/protobuf/struct.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/config/resource.hpp>
 
 namespace viam {
@@ -131,7 +132,7 @@ Value ProtoType::proto_value() {
             break;
         }
         default: {
-            throw std::runtime_error(
+            throw Exception(
                 "Invalid proto_value conversion type. This should never happen;\
 						please file a bug report.");
         }
@@ -194,8 +195,9 @@ bool operator==(const ProtoType& lhs, const ProtoType& rhs) {
             return std::equal(lhs_vec.begin(), lhs_vec.end(), rhs_vec.begin(), rhs_vec.end(), pred);
         }
         default: {
-            throw "Invalid proto_value conversion type. This should never happen;\
-                   please file a bug report.";
+            throw Exception(
+                "Invalid proto_value conversion type. This should never happen;\
+                   please file a bug report.");
         }
     }
 }
diff --git a/src/viam/sdk/components/board/board.cpp b/src/viam/sdk/components/board/board.cpp
index e15d72c2e..3abbf46fd 100644
--- a/src/viam/sdk/components/board/board.cpp
+++ b/src/viam/sdk/components/board/board.cpp
@@ -5,6 +5,7 @@
 #include <viam/api/component/board/v1/board.grpc.pb.h>
 #include <viam/api/component/board/v1/board.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/resource/resource.hpp>
 
@@ -48,7 +49,8 @@ Board::power_mode Board::from_proto(viam::component::board::v1::PowerMode proto)
         }
         case viam::component::board::v1::POWER_MODE_UNSPECIFIED:
         default: {
-            throw std::runtime_error("Invalid proto board power_mode to decode");
+            throw Exception(ErrorCondition::k_not_supported,
+                            "Invalid proto board power_mode to decode");
         }
     }
 }
@@ -86,7 +88,7 @@ viam::component::board::v1::PowerMode Board::to_proto(Board::power_mode power_mo
             return viam::component::board::v1::POWER_MODE_OFFLINE_DEEP;
         }
         default: {
-            throw std::runtime_error("Invalid board power_mode to encode");
+            throw Exception(ErrorCondition::k_not_supported, "Invalid board power_mode to encode");
         }
     }
 }
diff --git a/src/viam/sdk/components/board/client.cpp b/src/viam/sdk/components/board/client.cpp
index e28383f3d..f96f2807d 100644
--- a/src/viam/sdk/components/board/client.cpp
+++ b/src/viam/sdk/components/board/client.cpp
@@ -10,6 +10,7 @@
 #include <viam/api/component/board/v1/board.grpc.pb.h>
 
 #include <viam/sdk/common/client_helper.hpp>
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/board/board.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -101,7 +102,7 @@ Board::analog_value BoardClient::read_analog(const std::string& analog_reader_na
 
     const grpc::Status status = stub_->ReadAnalogReader(ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw GRPCException(status);
     }
     return response.value();
 }
@@ -130,7 +131,7 @@ Board::digital_value BoardClient::read_digital_interrupt(const std::string& digi
 
     const grpc::Status status = stub_->GetDigitalInterruptValue(ctx, request, &response);
     if (!status.ok()) {
-        throw std::runtime_error(status.error_message());
+        throw GRPCException(status);
     }
     return response.value();
 }
diff --git a/src/viam/sdk/components/encoder/encoder.cpp b/src/viam/sdk/components/encoder/encoder.cpp
index 52a2505c7..a155976d0 100644
--- a/src/viam/sdk/components/encoder/encoder.cpp
+++ b/src/viam/sdk/components/encoder/encoder.cpp
@@ -5,6 +5,7 @@
 #include <viam/api/component/encoder/v1/encoder.grpc.pb.h>
 #include <viam/api/component/encoder/v1/encoder.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/resource/resource.hpp>
 
@@ -31,7 +32,8 @@ Encoder::position_type Encoder::from_proto(viam::component::encoder::v1::Positio
             return Encoder::position_type::ticks_count;
         }
         default: {
-            throw std::runtime_error("Invalid proto encoder type to decode");
+            throw Exception(ErrorCondition::k_not_supported,
+                            "Invalid proto encoder type to decode");
         }
     }
 }
@@ -64,7 +66,8 @@ viam::component::encoder::v1::PositionType Encoder::to_proto(position_type posit
             return viam::component::encoder::v1::POSITION_TYPE_TICKS_COUNT;
         }
         default: {
-            throw std::runtime_error("Invalid proto encoder type to encode");
+            throw Exception(ErrorCondition::k_not_supported,
+                            "Invalid proto encoder type to encode");
         }
     }
 }
diff --git a/src/viam/sdk/components/motor/motor.hpp b/src/viam/sdk/components/motor/motor.hpp
index 173cd69e3..fcc27d8c4 100644
--- a/src/viam/sdk/components/motor/motor.hpp
+++ b/src/viam/sdk/components/motor/motor.hpp
@@ -83,7 +83,7 @@ class Motor : public Component, public Stoppable {
     /// `revolutions` == 0, this will run the motor at `rpm` indefinetely. If `revolutions` != 0,
     /// this will block until the number of revolutions has been completed or another operation
     /// comes in.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     inline void go_for(double rpm, double revolutions) {
         return go_for(rpm, revolutions, {});
     }
@@ -96,14 +96,14 @@ class Motor : public Component, public Stoppable {
     /// this will block until the number of revolutions has been completed or another operation
     /// comes in.
     /// @param extra Any additional arguments to the method.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     virtual void go_for(double rpm, double revolutions, const AttributeMap& extra) = 0;
 
     /// @brief Move the motor to a specific position that is relative to its
     /// home position at a specified speed which is expressed in RPM.
     /// @param rpm Speed of motor travel in rotations per minute
     /// @param position_revolutions Number of revolutions relative to motor's home home/zero
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     inline void go_to(double rpm, double position_revolutions) {
         return go_to(rpm, position_revolutions, {});
     }
@@ -113,12 +113,12 @@ class Motor : public Component, public Stoppable {
     /// @param rpm Speed of motor travel in rotations per minute
     /// @param position_revolutions Number of revolutions relative to motor's home home/zero
     /// @param extra Any additional arguments to the method.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     virtual void go_to(double rpm, double position_revolutions, const AttributeMap& extra) = 0;
 
     /// @brief Sets the current position of the motor as the new zero position.
     /// @param offset Motor position
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     inline void reset_zero_position(double offset) {
         return reset_zero_position(offset, {});
     }
@@ -126,18 +126,18 @@ class Motor : public Component, public Stoppable {
     /// @brief Sets the current position of the motor as the new zero position.
     /// @param offset Motor position
     /// @param extra Any additional arguments to the method
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     virtual void reset_zero_position(double offset, const AttributeMap& extra) = 0;
 
     /// @brief Reports the position of the robot's motor relative to its zero position.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     inline position get_position() {
         return get_position({});
     }
 
     /// @brief Reports the position of the robot's motor relative to its zero position.
     /// @param extra Any additional arguments to the method
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     virtual position get_position(const AttributeMap& extra) = 0;
 
     /// @brief Returns the properties of the motor which comprises the booleans indicating
diff --git a/src/viam/sdk/components/servo/servo.hpp b/src/viam/sdk/components/servo/servo.hpp
index d9012b66f..2a8652f8a 100644
--- a/src/viam/sdk/components/servo/servo.hpp
+++ b/src/viam/sdk/components/servo/servo.hpp
@@ -43,14 +43,14 @@ class Servo : public Component, public Stoppable {
     virtual void move(uint32_t angle_deg, const AttributeMap& extra) = 0;
 
     /// @brief Get the current angle (degrees) of the servo.
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     inline position get_position() {
         return get_position({});
     }
 
     /// @brief Reports the position of the robot's servo relative to its zero position.
     /// @param extra Any additional arguments to the method
-    /// @throws runtime_error if position reporting is not supported
+    /// @throws `Exception` if position reporting is not supported
     virtual position get_position(const AttributeMap& extra) = 0;
 
     /// @brief Stops a resource from running.
diff --git a/src/viam/sdk/config/resource.cpp b/src/viam/sdk/config/resource.cpp
index 4a002dfcf..15dd21493 100644
--- a/src/viam/sdk/config/resource.cpp
+++ b/src/viam/sdk/config/resource.cpp
@@ -9,6 +9,7 @@
 #include <viam/api/app/v1/robot.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/referenceframe/frame.hpp>
@@ -84,8 +85,7 @@ void ResourceConfig::fix_api() {
     // config structs
     if (this->api_.type_namespace() != this->namespace__ ||
         this->api_.resource_subtype() != this->type_) {
-        throw std::runtime_error(
-            "component namespace and/or type do not match component api field");
+        throw Exception("component namespace and/or type do not match component api field");
     }
 }
 
diff --git a/src/viam/sdk/module/service.cpp b/src/viam/sdk/module/service.cpp
index 90217bbb9..87e6931d7 100644
--- a/src/viam/sdk/module/service.cpp
+++ b/src/viam/sdk/module/service.cpp
@@ -27,6 +27,7 @@
 #include <viam/api/module/v1/module.grpc.pb.h>
 #include <viam/api/module/v1/module.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/component.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -54,7 +55,7 @@ Dependencies ModuleService::get_dependencies_(
             std::ostringstream buffer;
             buffer << resource_name << ": Dependency "
                    << "`" << dep_name << "` was not found during (re)configuration";
-            throw std::invalid_argument(buffer.str());
+            throw Exception(ErrorCondition::k_resource_not_found, buffer.str());
         }
         deps.emplace(dep_name, dep_resource);
     }
@@ -217,7 +218,7 @@ ModuleService::ModuleService(int argc,
                              char** argv,
                              std::vector<std::shared_ptr<ModelRegistration>> registrations) {
     if (argc < 2) {
-        throw std::runtime_error("Need socket path as command line argument");
+        throw Exception("Need socket path as command line argument");
     }
     module_ = std::make_unique<Module>(argv[1]);
     server_ = std::make_unique<Server>();
diff --git a/src/viam/sdk/module/signal_manager.hpp b/src/viam/sdk/module/signal_manager.hpp
index 1000136b4..90e62d12d 100644
--- a/src/viam/sdk/module/signal_manager.hpp
+++ b/src/viam/sdk/module/signal_manager.hpp
@@ -16,7 +16,7 @@ class SignalManager {
 
     /// @brief Wait for SignalManager to receive SIGINT or SIGTERM.
     /// @return The signal number if successful.
-    /// @throws runtime_error if the underlying sigwait call was unsuccessful.
+    /// @throws `std::runtime_error` if the underlying sigwait call was unsuccessful.
     int wait();
 
    private:
diff --git a/src/viam/sdk/registry/registry.cpp b/src/viam/sdk/registry/registry.cpp
index 67aa67fde..6f427e12c 100644
--- a/src/viam/sdk/registry/registry.cpp
+++ b/src/viam/sdk/registry/registry.cpp
@@ -10,7 +10,7 @@
 #include <google/protobuf/struct.pb.h>
 #include <grpcpp/channel.h>
 #include <grpcpp/ext/proto_server_reflection_plugin.h>
-
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/components/base/client.hpp>
 #include <viam/sdk/components/base/server.hpp>
 #include <viam/sdk/components/board/client.hpp>
@@ -59,8 +59,9 @@ const Model& ModelRegistration::model() const {
 void Registry::register_model(std::shared_ptr<const ModelRegistration> resource) {
     std::string reg_key = resource->api().to_string() + "/" + resource->model().to_string();
     if (resources_.find(reg_key) != resources_.end()) {
-        const std::string err = "Cannot add resource with name " + reg_key + "as it already exists";
-        throw std::runtime_error(err);
+        const std::string err = "Cannot register API/model pair" + reg_key +
+                                " as that pair has already been registered";
+        throw Exception(ErrorCondition::k_duplicate_registration, err);
     }
 
     resources_.emplace(std::move(reg_key), std::move(resource));
@@ -69,7 +70,9 @@ void Registry::register_model(std::shared_ptr<const ModelRegistration> resource)
 void Registry::register_resource_server_(
     API api, std::shared_ptr<ResourceServerRegistration> resource_registration) {
     if (server_apis_.find(api) != server_apis_.end()) {
-        throw std::runtime_error("Cannot add api " + api.to_string() + " as it already exists");
+        const std::string err =
+            "Cannot register server API" + api.to_string() + " as it has already been registered";
+        throw Exception(ErrorCondition::k_duplicate_registration, err);
     }
 
     server_apis_.emplace(std::move(api), std::move(resource_registration));
@@ -78,7 +81,9 @@ void Registry::register_resource_server_(
 void Registry::register_resource_client_(
     API api, std::shared_ptr<ResourceClientRegistration> resource_registration) {
     if (client_apis_.find(api) != client_apis_.end()) {
-        throw std::runtime_error("Cannot add api " + api.to_string() + " as it already exists");
+        const std::string err =
+            "Cannot register client API" + api.to_string() + " as it has already been registered";
+        throw Exception(ErrorCondition::k_duplicate_registration, err);
     }
 
     client_apis_.emplace(std::move(api), std::move(resource_registration));
@@ -128,7 +133,7 @@ const google::protobuf::ServiceDescriptor* Registry::get_service_descriptor_(
     const google::protobuf::DescriptorPool* p = google::protobuf::DescriptorPool::generated_pool();
     const google::protobuf::ServiceDescriptor* sd = p->FindServiceByName(service_full_name);
     if (!sd) {
-        throw std::runtime_error("Unable to get service descriptor");
+        throw Exception("Unable to get service descriptor");
     }
     return sd;
 }
diff --git a/src/viam/sdk/registry/registry.hpp b/src/viam/sdk/registry/registry.hpp
index 89b4ff931..436600e8a 100644
--- a/src/viam/sdk/registry/registry.hpp
+++ b/src/viam/sdk/registry/registry.hpp
@@ -114,7 +114,7 @@ class Registry {
    public:
     /// @brief Registers a resource with the Registry.
     /// @param resource An object containing resource registration information.
-    /// @throws `std::runtime_error` if the resource has already been registered.
+    /// @throws `Exception` if the resource has already been registered.
     static void register_model(std::shared_ptr<const ModelRegistration> resource);
 
     /// @brief Lookup a given registered resource.
diff --git a/src/viam/sdk/resource/resource_api.cpp b/src/viam/sdk/resource/resource_api.cpp
index 0f98c1d11..24f8f55f1 100644
--- a/src/viam/sdk/resource/resource_api.cpp
+++ b/src/viam/sdk/resource/resource_api.cpp
@@ -11,6 +11,7 @@
 
 #include <viam/api/common/v1/common.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/components/component.hpp>
 
@@ -67,7 +68,7 @@ API API::from_string(std::string api) {
         boost::split(api_parts, api, boost::is_any_of(":"));
         return {api_parts.at(0), api_parts.at(1), api_parts.at(2)};
     }
-    throw "string " + api + " is not a valid api name";
+    throw Exception("string " + api + " is not a valid api name");
 }
 
 API::API(APIType type, std::string resource_subtype)
@@ -143,7 +144,7 @@ Name Name::from_proto(const viam::common::v1::ResourceName& proto) {
 
 Name Name::from_string(std::string name) {
     if (!std::regex_match(name, NAME_REGEX)) {
-        throw "Received invalid Name string: " + name;
+        throw Exception("Received invalid Name string: " + name);
     }
     std::vector<std::string> slash_splits;
     boost::split(slash_splits, name, boost::is_any_of("/"));
@@ -233,7 +234,7 @@ Model Model::from_str(std::string model) {
     if (std::regex_match(model, SINGLE_FIELD_REGEX)) {
         return {"rdk", "builtin", model};
     }
-    throw std::runtime_error("string " + model + " is not a valid model name");
+    throw Exception("string " + model + " is not a valid model name");
 }
 
 std::string ModelFamily::to_string() const {
diff --git a/src/viam/sdk/resource/resource_api.hpp b/src/viam/sdk/resource/resource_api.hpp
index 7a01a874f..5677a8fd4 100644
--- a/src/viam/sdk/resource/resource_api.hpp
+++ b/src/viam/sdk/resource/resource_api.hpp
@@ -125,7 +125,7 @@ class Model {
     /// @brief Parses a single model string into a Model, using default values for namespace and
     /// family if not provided.
     ///
-    /// @throws `std::runtime_error` if given an invalid model (i.e., one with non-word characters).
+    /// @throws `Exception` if given an invalid model (i.e., one with non-word characters).
     static Model from_str(std::string model);
     friend bool operator==(const Model& lhs, const Model& rhs);
 
diff --git a/src/viam/sdk/resource/resource_manager.cpp b/src/viam/sdk/resource/resource_manager.cpp
index 795fa8c15..8f2940c5f 100644
--- a/src/viam/sdk/resource/resource_manager.cpp
+++ b/src/viam/sdk/resource/resource_manager.cpp
@@ -14,6 +14,7 @@
 
 #include <viam/api/component/generic/v1/generic.grpc.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/registry/registry.hpp>
 #include <viam/sdk/resource/resource.hpp>
 #include <viam/sdk/resource/resource_api.hpp>
@@ -67,7 +68,7 @@ std::string get_shortcut_name(const std::string& name) {
 
 void ResourceManager::do_add(const Name& name, std::shared_ptr<Resource> resource) {
     if (name.name().empty()) {
-        throw "Empty name used for resource: " + name.to_string();
+        throw Exception("Empty name used for resource: " + name.to_string());
     }
     std::string short_name = name.short_name();
 
@@ -76,7 +77,8 @@ void ResourceManager::do_add(const Name& name, std::shared_ptr<Resource> resourc
 
 void ResourceManager::do_add(std::string name, std::shared_ptr<Resource> resource) {
     if (resources_.find(name) != resources_.end()) {
-        throw "Attempted to add resource that already existed: " + name;
+        throw Exception(ErrorCondition::k_duplicate_resource,
+                        "Attempted to add resource that already existed: " + name);
     }
 
     std::string shortcut = get_shortcut_name(name);
@@ -102,7 +104,9 @@ void ResourceManager::add(const Name& name, std::shared_ptr<Resource> resource)
 void ResourceManager::do_remove(const Name& name) {
     const std::string short_name = name.short_name();
     if (resources_.find(short_name) == resources_.end()) {
-        throw "attempted to remove resource " + name.to_string() + " but it didn't exist!";
+        throw Exception(
+            ErrorCondition::k_resource_not_found,
+            "Attempted to remove resource " + name.to_string() + " but it didn't exist!");
     }
     resources_.erase(short_name);
 
diff --git a/src/viam/sdk/resource/resource_manager.hpp b/src/viam/sdk/resource/resource_manager.hpp
index 0457162be..3bc894f49 100644
--- a/src/viam/sdk/resource/resource_manager.hpp
+++ b/src/viam/sdk/resource/resource_manager.hpp
@@ -25,12 +25,12 @@ class ResourceManager {
    public:
     /// @brief Returns a resource.
     /// @param name the name of the desired resource.
-    /// @throws `std::runtime_error` if the desired resource does not exist.
+    /// @throws `Exception` if the desired resource does not exist.
     std::shared_ptr<Resource> resource(const std::string& name);
 
     /// @brief Returns a resource after dynamically downcasting to `T`.
     /// @param name of the desired resource.
-    /// @throws `std::runtime_error` if the desired resource does not exist.
+    /// @throws `Exception` if the desired resource does not exist.
     template <typename T>
     std::shared_ptr<T> resource(const std::string& name) {
         static_assert(std::is_base_of<Resource, T>::value, "T is not derived from Resource");
diff --git a/src/viam/sdk/robot/client.hpp b/src/viam/sdk/robot/client.hpp
index 2597f4b01..c043dabcb 100644
--- a/src/viam/sdk/robot/client.hpp
+++ b/src/viam/sdk/robot/client.hpp
@@ -72,7 +72,7 @@ class RobotClient {
 
     /// @brief Lookup and return a `shared_ptr` to a resource.
     /// @param name The `ResourceName` of the resource.
-    /// @throws `std::runtime_error` if the requested resource doesn't exist or is the wrong type.
+    /// @throws `Exception` if the requested resource doesn't exist or is the wrong type.
     /// @return a `shared_ptr` to the requested resource as an uncasted `Resource`.
     ///
     /// This method should not be called directly except in specific cases. The
@@ -86,7 +86,7 @@ class RobotClient {
     template <typename T>
     /// @brief Lookup and return a `shared_ptr` to a resource of the requested type.
     /// @param name The ordinary name of the resource.
-    /// @throws `std::runtime_error` if the requested resource doesn't exist or is the wrong type.
+    /// @throws `Exception` if the requested resource doesn't exist or is the wrong type.
     /// @return a `shared_ptr` to the requested resource.
     std::shared_ptr<T> resource_by_name(std::string name) {
         ResourceName r;
diff --git a/src/viam/sdk/rpc/dial.cpp b/src/viam/sdk/rpc/dial.cpp
index 4ac15590e..34ac1c24f 100644
--- a/src/viam/sdk/rpc/dial.cpp
+++ b/src/viam/sdk/rpc/dial.cpp
@@ -11,6 +11,7 @@
 
 #include <viam/api/robot/v1/robot.grpc.pb.h>
 #include <viam/api/robot/v1/robot.pb.h>
+#include <viam/sdk/common/exception.hpp>
 
 extern "C" void* init_rust_runtime();
 extern "C" int free_rust_runtime(void* ptr);
@@ -103,9 +104,7 @@ std::shared_ptr<ViamChannel> ViamChannel::dial(const char* uri,
         uri, entity, type, payload, opts.allows_insecure_downgrade(), float_timeout.count(), ptr);
     if (socket_path == NULL) {
         free_rust_runtime(ptr);
-        // TODO(RSDK-1742) Replace throwing of strings with throwing of
-        // runtime_error
-        throw "Unable to establish connecting path!";
+        throw Exception(ErrorCondition::k_connection, "Unable to establish connecting path");
     }
 
     std::string address("unix://");
diff --git a/src/viam/sdk/rpc/server.cpp b/src/viam/sdk/rpc/server.cpp
index 1b55ddef1..ff755fe50 100644
--- a/src/viam/sdk/rpc/server.cpp
+++ b/src/viam/sdk/rpc/server.cpp
@@ -5,6 +5,7 @@
 #include <boost/log/trivial.hpp>
 #include <grpcpp/security/server_credentials.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/registry/registry.hpp>
 
 namespace viam {
@@ -33,7 +34,7 @@ std::shared_ptr<ResourceServer> Server::lookup_resource_server(const API& api) {
 
 void Server::register_service(grpc::Service* service) {
     if (!builder_) {
-        throw std::runtime_error("Cannot register a new service after the server has started");
+        throw Exception("Cannot register a new service after the server has started");
     }
 
     builder_->RegisterService(service);
@@ -45,7 +46,7 @@ void Server::add_resource(std::shared_ptr<Resource> resource) {
         std::ostringstream buffer;
         buffer << "Attempted to add resource with API: " << api
                << " but no matching resource server as found";
-        throw std::runtime_error(buffer.str());
+        throw Exception(ErrorCondition::k_resource_not_found, buffer.str());
     }
     auto resource_server = managed_servers_.at(api);
     auto name = resource->name();
@@ -54,7 +55,7 @@ void Server::add_resource(std::shared_ptr<Resource> resource) {
 
 void Server::start() {
     if (server_) {
-        throw std::runtime_error("Attempted to start server that was already running");
+        throw Exception("Attempted to start server that was already running");
     }
 
     server_ = builder_->BuildAndStart();
@@ -64,7 +65,7 @@ void Server::start() {
 void Server::add_listening_port(std::string address,
                                 std::shared_ptr<grpc::ServerCredentials> creds) {
     if (!builder_) {
-        throw std::runtime_error("Cannot add a listening port after server has started");
+        throw Exception("Cannot add a listening port after server has started");
     }
 
     if (!creds) {
diff --git a/src/viam/sdk/rpc/server.hpp b/src/viam/sdk/rpc/server.hpp
index 5e1a12f03..2f453bb4a 100644
--- a/src/viam/sdk/rpc/server.hpp
+++ b/src/viam/sdk/rpc/server.hpp
@@ -28,13 +28,13 @@ class Server {
     ~Server();
 
     /// @brief Starts the grpc server. Can only be called once.
-    /// @throws `std::runtime_error` if the server was already `start`ed.
+    /// @throws `Exception` if the server was already `start`ed.
     /// repeated calls.
     void start();
 
     /// @brief Registers a gRPC service.
     /// @param service The gRPC service to be registered.
-    /// @throws `std::runtime_error` if called after the server has been `start`ed.
+    /// @throws `Exception` if called after the server has been `start`ed.
     void register_service(grpc::Service* service);
 
     /// @brief Returns reference to managed resource server.
@@ -44,13 +44,13 @@ class Server {
 
     /// @brief Adds a specific managed resource to the associated resource server
     /// @param resource The resource to add
-    /// @throws `std::runtime_error` if a matching `ResourceServer` doesn't exist in the server.
+    /// @throws `Exception` if a matching `ResourceServer` doesn't exist in the server.
     void add_resource(std::shared_ptr<Resource> resource);
 
     /// @brief Adds a listening port to the server.
     /// @param address The address to listen at.
     /// @param creds The server credentials; defaults to a insecure server credentials.
-    /// @throws `std::runtime_error` if called after the server has been `start`ed.
+    /// @throws `Exception` if called after the server has been `start`ed.
     void add_listening_port(std::string address,
                             std::shared_ptr<grpc::ServerCredentials> creds = nullptr);
 
diff --git a/src/viam/sdk/services/mlmodel/client.cpp b/src/viam/sdk/services/mlmodel/client.cpp
index 923461e1a..6e978dbb8 100644
--- a/src/viam/sdk/services/mlmodel/client.cpp
+++ b/src/viam/sdk/services/mlmodel/client.cpp
@@ -19,6 +19,8 @@
 #include <viam/sdk/common/utils.hpp>
 #include <viam/sdk/services/mlmodel/private/proto.hpp>
 
+#include <viam/sdk/common/exception.hpp>
+
 namespace viam {
 namespace sdk {
 
@@ -58,7 +60,7 @@ std::shared_ptr<MLModelService::named_tensor_views> MLModelServiceClient::infer(
 
     const auto result = stub_->Infer(ctx, *req, resp);
     if (!result.ok()) {
-        throw std::runtime_error(result.error_message());
+        throw GRPCException(result);
     }
 
     for (const auto& kv : resp->output_tensors().tensors()) {
@@ -107,8 +109,7 @@ struct MLModelService::metadata MLModelServiceClient::metadata(const AttributeMa
                     message << "Failed to deserialize returned Metadata.TensorInfo.data_type field "
                                "with value `"
                             << s.data_type() << "` to one of the known tensor data types";
-                    // TODO: Throw viam exception once PR #100 merges.
-                    throw std::runtime_error(message.str());
+                    throw Exception(message.str());
                 }
                 ti.data_type = *data_type;
                 ti.shape.reserve(s.shape_size());
@@ -133,8 +134,7 @@ struct MLModelService::metadata MLModelServiceClient::metadata(const AttributeMa
                             message << "Failed to deserialize returned "
                                        "Metadata.TensorInfo.File.label_type field with value `"
                                     << af.label_type() << "` to one of the known label types";
-                            // TODO: Throw viam exception once PR #100 merges.
-                            throw std::runtime_error(message.str());
+                            throw Exception(message.str());
                         }
                     }
                 }
diff --git a/src/viam/sdk/services/mlmodel/private/proto.cpp b/src/viam/sdk/services/mlmodel/private/proto.cpp
index 7a063069c..c03a7b223 100644
--- a/src/viam/sdk/services/mlmodel/private/proto.cpp
+++ b/src/viam/sdk/services/mlmodel/private/proto.cpp
@@ -23,6 +23,8 @@
 #include <absl/strings/escaping.h>
 #include <boost/variant/get.hpp>
 
+#include <viam/sdk/common/exception.hpp>
+
 namespace viam {
 namespace sdk {
 namespace mlmodel_details {
@@ -123,7 +125,7 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data,
     if (!data || (size == 0) || shape.empty()) {
         std::ostringstream message;
         message << "Empty or zero length data or shape";
-        throw std::invalid_argument(message.str());
+        throw Exception(message.str());
     }
 
     if (ts) {
@@ -143,7 +145,7 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data,
             std::ostringstream message;
             // TODO: Provide the shape
             message << "Provided shape information exceeds bounds of size_t when linearized";
-            throw std::length_error(message.str());
+            throw Exception(message.str());
         }
         shape_accum = next_shape_accum;
     }
@@ -162,7 +164,7 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor_t(const T* data,
         std::ostringstream message;
         // TODO: Provide the shape and details
         message << "Number of provided data elements does not match provided shape";
-        throw std::invalid_argument(message.str());
+        throw Exception(message.str());
     }
 
     return MLModelService::make_tensor_view(data, size, std::move(shape));
@@ -240,7 +242,7 @@ MLModelService::tensor_views make_sdk_tensor_from_api_tensor(
                                                  std::move(shape),
                                                  storage);
     }
-    throw std::invalid_argument("Unsupported tensor data type");
+    throw Exception(ErrorCondition::k_not_supported, "Unsupported tensor data type");
 }
 
 }  // namespace mlmodel_details
diff --git a/src/viam/sdk/services/motion/motion.cpp b/src/viam/sdk/services/motion/motion.cpp
index e31a1ab4a..8b16705d6 100644
--- a/src/viam/sdk/services/motion/motion.cpp
+++ b/src/viam/sdk/services/motion/motion.cpp
@@ -6,6 +6,7 @@
 #include <viam/api/service/motion/v1/motion.grpc.pb.h>
 #include <viam/api/service/motion/v1/motion.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/utils.hpp>
 
 namespace viam {
@@ -253,7 +254,7 @@ Motion::plan_state Motion::from_proto(const service::motion::v1::PlanState& prot
             return Motion::plan_state::k_stopped;
         }
         default: {
-            throw std::runtime_error("Invalid proto PlanState to encode");
+            throw Exception(ErrorCondition::k_not_supported, "Invalid proto PlanState to encode");
         }
     }
 }
@@ -273,7 +274,8 @@ service::motion::v1::PlanState Motion::to_proto(const Motion::plan_state& state)
             return service::motion::v1::PLAN_STATE_STOPPED;
         }
         default: {
-            throw std::runtime_error("Invalid plan_state to encode to proto");
+            throw Exception(ErrorCondition::k_not_supported,
+                            "Invalid plan_state to encode to proto");
         }
     }
 }
diff --git a/src/viam/sdk/spatialmath/geometry.cpp b/src/viam/sdk/spatialmath/geometry.cpp
index 3325b6abd..2eb829083 100644
--- a/src/viam/sdk/spatialmath/geometry.cpp
+++ b/src/viam/sdk/spatialmath/geometry.cpp
@@ -7,6 +7,7 @@
 
 #include <viam/api/common/v1/common.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/spatialmath/orientation.hpp>
 
 namespace viam {
@@ -19,7 +20,7 @@ viam::common::v1::Sphere GeometryConfig::sphere_proto() const {
         sphere.set_radius_mm(sphere_specifics.radius);
         return sphere;
     } catch (...) {
-        throw std::runtime_error(
+        throw Exception(
             "Couldn't convert geometry config to sphere proto; sphere specifics not found");
     }
 }
@@ -35,8 +36,7 @@ viam::common::v1::RectangularPrism GeometryConfig::box_proto() const {
         *box.mutable_dims_mm() = vec3;
         return box;
     } catch (...) {
-        throw std::runtime_error(
-            "Couldn't convert geometry config to box proto; box specifics not found");
+        throw Exception("Couldn't convert geometry config to box proto; box specifics not found");
     }
 }
 
@@ -48,7 +48,7 @@ viam::common::v1::Capsule GeometryConfig::capsule_proto() const {
         capsule.set_length_mm(capsule_specifics.length);
         return capsule;
     } catch (...) {
-        throw std::runtime_error(
+        throw Exception(
             "Couldn't convert geometry config to capsule proto; capsule specifics not found");
     }
 }
@@ -122,7 +122,7 @@ GeometryConfig GeometryConfig::from_proto(const viam::common::v1::Geometry& prot
         }
         case viam::common::v1::Geometry::GeometryTypeCase::GEOMETRY_TYPE_NOT_SET:
         default: {
-            throw "Geometry type is not supported";
+            throw Exception(ErrorCondition::k_not_supported, "Geometry type is not supported");
         }
     }
 }
diff --git a/src/viam/sdk/spatialmath/orientation.cpp b/src/viam/sdk/spatialmath/orientation.cpp
index ca5229d18..7351c6029 100644
--- a/src/viam/sdk/spatialmath/orientation.cpp
+++ b/src/viam/sdk/spatialmath/orientation.cpp
@@ -8,6 +8,7 @@
 
 #include <viam/api/app/v1/robot.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/spatialmath/orientation_types.hpp>
 
 namespace viam {
@@ -91,7 +92,7 @@ OrientationConfig OrientationConfig::from_proto(proto::Orientation proto) {
         }
         case proto::Orientation::TypeCase::TYPE_NOT_SET:
         default: {
-            throw std::runtime_error("orientation type not known");
+            throw Exception(ErrorCondition::k_not_supported, "orientation type not known");
         }
     }
     return cfg;
@@ -151,7 +152,7 @@ proto::Orientation OrientationConfig::to_proto() const {
             return orientation;
         };
         default: {
-            throw std::runtime_error("orientation type not known");
+            throw Exception(ErrorCondition::k_not_supported, "orientation type not known");
         }
     }
 }
diff --git a/src/viam/sdk/tests/mocks/mock_motor.cpp b/src/viam/sdk/tests/mocks/mock_motor.cpp
index 834570795..670639635 100644
--- a/src/viam/sdk/tests/mocks/mock_motor.cpp
+++ b/src/viam/sdk/tests/mocks/mock_motor.cpp
@@ -6,6 +6,7 @@
 #include <viam/api/component/motor/v1/motor.grpc.pb.h>
 #include <viam/api/component/motor/v1/motor.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/components/motor/motor.hpp>
 #include <viam/sdk/components/motor/server.hpp>
@@ -26,7 +27,7 @@ void MockMotor::set_power(double power_pct, const AttributeMap& extra) {
 void MockMotor::go_for(double rpm, double revolutions, const AttributeMap& extra) {
     // This is the actual behavior from rdk:builtin:fake_motor
     if (rpm == 0.0) {
-        throw std::runtime_error("Cannot move motor at 0 RPM");
+        throw Exception("Cannot move motor at 0 RPM");
     }
     position_ += revolutions;
 }
diff --git a/src/viam/sdk/tests/test_motor.cpp b/src/viam/sdk/tests/test_motor.cpp
index 83e230faa..f5257bbe8 100644
--- a/src/viam/sdk/tests/test_motor.cpp
+++ b/src/viam/sdk/tests/test_motor.cpp
@@ -11,6 +11,7 @@
 #include <viam/api/component/motor/v1/motor.grpc.pb.h>
 #include <viam/api/component/motor/v1/motor.pb.h>
 
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/components/motor/client.hpp>
 #include <viam/sdk/components/motor/motor.hpp>
@@ -104,7 +105,7 @@ BOOST_AUTO_TEST_CASE(mock_do_command) {
 
 BOOST_AUTO_TEST_CASE(mock_exception_creation) {
     std::shared_ptr<MockMotor> motor = MockMotor::get_mock_motor();
-    BOOST_CHECK_THROW(motor->go_for(0.0, 1.0), std::runtime_error);
+    BOOST_CHECK_THROW(motor->go_for(0.0, 1.0), Exception);
 }
 
 BOOST_AUTO_TEST_SUITE_END()
diff --git a/src/viam/sdk/tests/test_resource.cpp b/src/viam/sdk/tests/test_resource.cpp
index 65e895e9a..c3af1fe78 100644
--- a/src/viam/sdk/tests/test_resource.cpp
+++ b/src/viam/sdk/tests/test_resource.cpp
@@ -2,6 +2,7 @@
 #include <boost/test/included/unit_test.hpp>
 
 #include <google/protobuf/struct.pb.h>
+#include <viam/sdk/common/exception.hpp>
 #include <viam/sdk/common/pose.hpp>
 #include <viam/sdk/common/proto_type.hpp>
 #include <viam/sdk/config/resource.hpp>
@@ -37,9 +38,9 @@ BOOST_AUTO_TEST_CASE(test_api) {
     BOOST_CHECK(api2.is_service_type());
     BOOST_CHECK(!api2.is_component_type());
 
-    BOOST_CHECK_THROW(API::from_string("nsservicest"), std::string);
-    BOOST_CHECK_THROW(API::from_string("ns:service:#st"), std::string);
-    BOOST_CHECK_THROW(API::from_string("ns:service"), std::string);
+    BOOST_CHECK_THROW(API::from_string("nsservicest"), Exception);
+    BOOST_CHECK_THROW(API::from_string("ns:service:#st"), Exception);
+    BOOST_CHECK_THROW(API::from_string("ns:service"), Exception);
 }
 
 BOOST_AUTO_TEST_CASE(test_name) {
@@ -67,7 +68,7 @@ BOOST_AUTO_TEST_CASE(test_name) {
     BOOST_CHECK_EQUAL(name3.to_string(), "ns:component:st/name");
     BOOST_CHECK_EQUAL(Name::from_proto(name3.to_proto()), name3);
 
-    BOOST_CHECK_THROW(Name::from_string("ns:service:#st/remote:name"), std::string);
+    BOOST_CHECK_THROW(Name::from_string("ns:service:#st/remote:name"), Exception);
 }
 
 BOOST_AUTO_TEST_CASE(test_model) {
@@ -88,7 +89,7 @@ BOOST_AUTO_TEST_CASE(test_model) {
     Model model5(empty, "model5");
     BOOST_CHECK_EQUAL(model5.to_string(), "model5");
 
-    BOOST_CHECK_THROW(Model::from_str("@"), std::runtime_error);
+    BOOST_CHECK_THROW(Model::from_str("@"), Exception);
 }
 
 BOOST_AUTO_TEST_CASE(test_linkconfig) {
@@ -246,7 +247,7 @@ BOOST_AUTO_TEST_CASE(test_resource) {
     BOOST_CHECK_EQUAL(value.number_value(), 1);
 
     *proto_cfg.mutable_api() = "ns:component:test";
-    BOOST_CHECK_THROW(ResourceConfig::from_proto(proto_cfg), std::runtime_error);
+    BOOST_CHECK_THROW(ResourceConfig::from_proto(proto_cfg), Exception);
 }
 
 }  // namespace sdktests