diff --git a/equipment/turtle_device.py b/equipment/turtle_device.py
index 1f94d32..0e4689d 100644
--- a/equipment/turtle_device.py
+++ b/equipment/turtle_device.py
@@ -1,6 +1,6 @@
 from turtle import Turtle
 from typing import Any, Collection, Optional
-from types import FunctionType
+from types import FunctionType, MethodType
 from inspect import getfullargspec
 
 from controls.device import SynchronyDevice
@@ -33,16 +33,21 @@ class TurtleDevice(SynchronyDevice):
         super().close()
 
     def action_descriptors(self) -> Collection[ActionDescriptor]:
-        def get_args(f: FunctionType) -> dict[str, type]:
-            spec = getfullargspec(f)
+        if self.state != DeviceLifecycleState.OPEN:
+            raise DeviceError("Device is not opened")
+
+        def get_args(name: str) -> dict[str, type]:
+            spec = getfullargspec(getattr(self._device, name))
             return {arg: spec.annotations.get(arg, object) for arg in spec.args}
 
-        actions = (dict(filter(lambda i: not i[0].startswith('_'),
-                             filter(lambda i: isinstance(i[1], FunctionType), 
-                                    self._device.__dict__.items())))) # lisp :3
-        return [ActionDescriptor(name=action[0],arguments=get_args(action[1])) for action in actions.items()]
+        actions = (filter(lambda name: not name.startswith("_"),
+                         filter(lambda name: isinstance(getattr(self._device, name), MethodType),
+                                dir(self._device)))) # lisp :3
+        return [ActionDescriptor(name=action,arguments=get_args(action)) for action in actions]
 
     def trait_descriptors(self) -> Collection[TraitDescriptor]:
+        if self.state != DeviceLifecycleState.OPEN:
+            raise DeviceError("Device is not opened")
         traits = dict(filter(lambda i: not i[0].startswith('_'),
                              filter(lambda i: not isinstance(i[1], FunctionType),
                                     self._device.__dict__.items())))
@@ -66,7 +71,7 @@ class TurtleDevice(SynchronyDevice):
             raise DeviceError("Device is not opened")
         if action_name not in self._actions:
             raise KeyError(f"\"{action_name}\" is not an action of {self.__class__}")
-        return self._device.__dict__[action_name](args, kwargs)
+        return getattr(self._device, action_name)(*args, **kwargs)
 
     def invalidate(self, trait_name: str):
         if trait_name in self._logical_traits:
diff --git a/tests/equipment/test_turtle_device.py b/tests/equipment/test_turtle_device.py
index a12912b..878c2e7 100644
--- a/tests/equipment/test_turtle_device.py
+++ b/tests/equipment/test_turtle_device.py
@@ -10,4 +10,10 @@ class TurtleDeviceTest(TestCase):
 
     def test_open(self):
         self.device.open()
-        self.device.close()
\ No newline at end of file
+        self.device.close()
+
+    def test_execute(self):
+        self.device.open()
+        dist = self.device.execute("distance", 1.0, 1.0)
+        self.assertAlmostEqual(dist, 1.41421, delta=1e-5)
+        self.device.close()