diff --git a/src/reachy2_sdk/orbita/orbita.py b/src/reachy2_sdk/orbita/orbita.py
index 81dada06..b543d0d9 100644
--- a/src/reachy2_sdk/orbita/orbita.py
+++ b/src/reachy2_sdk/orbita/orbita.py
@@ -31,10 +31,11 @@ class Orbita(ABC):
     """The Orbita class is an abstract class to represent any Orbita actuator.
 
     The Orbita class is used to store the up-to-date state of the actuator, especially:
-        - its compliancy
-        - its joints state
-        - its motors state
-        - its axis state
+    - its compliancy
+    - its joints state
+    - its motors state
+    - its axis state
+
     And apply speed, torque, pid and compliancy to all motors of the actuator.
 
     This class is meant to be derived by Orbita2d and Orbita3d
@@ -106,11 +107,11 @@ def set_speed_limits(self, speed_limit: float | int) -> None:
             speed_limit: The desired speed limit as a percentage (0-100).
 
         Raises:
-            ValueError: If the provided speed_limit is not a float or int.
+            TypeError: If the provided speed_limit is not a float or int.
             ValueError: If the provided speed_limit is outside the range [0, 100].
         """
         if not isinstance(speed_limit, float | int):
-            raise ValueError(f"Expected one of: float, int for speed_limit, got {type(speed_limit).__name__}")
+            raise TypeError(f"Expected one of: float, int for speed_limit, got {type(speed_limit).__name__}")
         if not (0 <= speed_limit <= 100):
             raise ValueError(f"speed_limit must be in [0, 100], got {speed_limit}.")
 
@@ -125,11 +126,11 @@ def set_torque_limits(self, torque_limit: float | int) -> None:
             torque_limit: The desired torque limit as a percentage (0-100).
 
         Raises:
-            ValueError: If the provided torque_limit is not a float or int.
+            TypeError: If the provided torque_limit is not a float or int.
             ValueError: If the provided torque_limit is outside the range [0, 100].
         """
         if not isinstance(torque_limit, float | int):
-            raise ValueError(f"Expected one of: float, int for torque_limit, got {type(torque_limit).__name__}")
+            raise TypeError(f"Expected one of: float, int for torque_limit, got {type(torque_limit).__name__}")
         if not (0 <= torque_limit <= 100):
             raise ValueError(f"torque_limit must be in [0, 100], got {torque_limit}.")
 
diff --git a/src/reachy2_sdk/orbita/orbita2d.py b/src/reachy2_sdk/orbita/orbita2d.py
index 2952dad0..60d40ef7 100644
--- a/src/reachy2_sdk/orbita/orbita2d.py
+++ b/src/reachy2_sdk/orbita/orbita2d.py
@@ -31,16 +31,17 @@ class Orbita2d(Orbita):
     """The Orbita2d class represents any Orbita2d actuator and its joints, motors and axis.
 
     The Orbita2d class is used to store the up-to-date state of the actuator, especially:
-        - its compliancy
-        - its joints state
-        - its motors state
-        - its axis state
+    - its compliancy
+    - its joints state
+    - its motors state
+    - its axis state
 
     You can access properties of the motors from the actuators with function that act on all the actuator's motors:
     - speed limit (in percentage, for all motors of the actuator)
     - torque limit (in percentage, for all motors of the actuator)
     - pid (for all motors of the actuator)
     - compliancy (for all motors of the actuator)
+
     Lower properties that are read-only but acessible at actuator level:
     - temperatures (temperatures of all motors of the actuator)
     """
diff --git a/src/reachy2_sdk/orbita/orbita3d.py b/src/reachy2_sdk/orbita/orbita3d.py
index fab55f5f..12ebd1ba 100644
--- a/src/reachy2_sdk/orbita/orbita3d.py
+++ b/src/reachy2_sdk/orbita/orbita3d.py
@@ -30,16 +30,17 @@ class Orbita3d(Orbita):
     """The Orbita3d class represents any Orbita3d actuator and its joints, motors and axis.
 
     The Orbita3d class is used to store the up-to-date state of the actuator, especially:
-        - its compliancy
-        - its joints state
-        - its motors state
-        - its axis state
+    - its compliancy
+    - its joints state
+    - its motors state
+    - its axis state
 
     You can access properties of the motors from the actuators with function that act on all the actuator's motors:
     - speed limit (in percentage, for all motors of the actuator)
     - torque limit (in percentage, for all motors of the actuator)
     - pid (for all motors of the actuator)
     - compliancy (for all motors of the actuator)
+
     Lower properties that are read-only but acessible at actuator level:
     - temperatures (temperatures of all motors of the actuator)
     """
diff --git a/src/reachy2_sdk/orbita/orbita_axis.py b/src/reachy2_sdk/orbita/orbita_axis.py
index 4e7b9364..5e862d53 100644
--- a/src/reachy2_sdk/orbita/orbita_axis.py
+++ b/src/reachy2_sdk/orbita/orbita_axis.py
@@ -14,8 +14,8 @@ class OrbitaAxis:
     """The OrbitaAxis class represents any Orbita3d or Orbita2d axis.
 
     The OrbitaAxis class is used to store the up-to-date state of the axis, especially:
-        - its present speed (RO)
-        - its present load (RO)
+    - its present speed (RO)
+    - its present load (RO)
     """
 
     def __init__(self, initial_state: Dict[str, FloatValue]) -> None:
diff --git a/src/reachy2_sdk/orbita/orbita_joint.py b/src/reachy2_sdk/orbita/orbita_joint.py
index 3abece9d..8d3ee8b8 100644
--- a/src/reachy2_sdk/orbita/orbita_joint.py
+++ b/src/reachy2_sdk/orbita/orbita_joint.py
@@ -15,8 +15,8 @@ class OrbitaJoint:
     """The OrbitaJoint class represents any Orbita2d or Orbita3d joint.
 
     The OrbitaJoint class is used to store the up-to-date state of the joint, especially:
-        - its present_position (RO)
-        - its goal_position (RW)
+    - its present_position (RO)
+    - its goal_position (RW)
     """
 
     def __init__(
diff --git a/src/reachy2_sdk/orbita/orbita_motor.py b/src/reachy2_sdk/orbita/orbita_motor.py
index e8294001..cd440344 100644
--- a/src/reachy2_sdk/orbita/orbita_motor.py
+++ b/src/reachy2_sdk/orbita/orbita_motor.py
@@ -16,11 +16,11 @@ class OrbitaMotor:
     """The OrbitaMotor class represents any Orbita3d or Orbita2d motor.
 
     The OrbitaMotor class is used to store the up-to-date state of the motor, especially:
-        - its temperature (RO)
-        - its compliancy (RO)
-        - its speed limit (RW)
-        - its torque limit (RW)
-        - its pid (RW)
+    - its temperature (RO)
+    - its compliancy (RO)
+    - its speed limit (RW)
+    - its torque limit (RW)
+    - its pid (RW)
     """
 
     def __init__(self, initial_state: Dict[str, Any], actuator: Any) -> None:
diff --git a/src/reachy2_sdk/parts/arm.py b/src/reachy2_sdk/parts/arm.py
index 30bef0a7..e27366c2 100644
--- a/src/reachy2_sdk/parts/arm.py
+++ b/src/reachy2_sdk/parts/arm.py
@@ -326,7 +326,7 @@ def inverse_kinematics(
 
         Returns:
             A list of joint angles representing the solution to reach the target pose, in the following order:
-                [shoulder.pitch, shoulder.roll, elbow.pitch, elbow.yaw, wrist.roll, wrist.pitch, wrist.yaw].
+                [shoulder_pitch, shoulder_roll, elbo_yaw, elbow_pitch, wrist.roll, wrist.pitch, wrist.yaw].
 
         Raises:
             ValueError: If the target shape is not (4, 4).
@@ -427,18 +427,14 @@ def goto(
             GoToId: The unique GoToId identifier for the movement command.
 
         Raises:
-            ValueError: If the `target` is neither a list of 7 joint values nor a 4x4 pose matrix.
+            TypeError: If the `target` is neither a list nor a pose matrix.
+            TypeError: If the `q0` is not a list.
+            ValueError: If the `target` list has a length other than 7, or the pose matrix is not
+                of shape (4, 4).
             ValueError: If the `q0` list has a length other than 7.
             ValueError: If the `duration` is set to 0.
         """
-        if not ((isinstance(target, list) and len(target) == 7) or (isinstance(target, np.ndarray) and target.shape == (4, 4))):
-            raise ValueError("Invalid target: must be either a list of 7 joint positions or a 4x4 matrix.")
-
-        if q0 is not None and len(q0) != 7:
-            raise ValueError(f"q0 should be of length 7 (got {len(q0)} instead)!")
-
-        if duration == 0:
-            raise ValueError("duration cannot be set to 0.")
+        self._check_goto_parameters(duration, target, q0)
 
         if self.is_off():
             self._logger.warning(f"{self._part_id.name} is off. Goto not sent.")
@@ -504,9 +500,6 @@ def _goto_from_matrix(
         Raises:
             ValueError: If the length of `q0` is not 7.
         """
-        if q0 is not None and len(q0) != 7:
-            raise ValueError(f"q0 should be of length 7 (got {len(q0)} instead)!")
-
         goal_pose = Matrix4x4(data=target.flatten().tolist())
         request = GoToRequest(
             cartesian_goal=CartesianGoal(
@@ -521,6 +514,38 @@ def _goto_from_matrix(
         )
         return self._goto_stub.GoToCartesian(request)
 
+    def _check_goto_parameters(self, duration: float, target: Any, q0: Optional[List[float]] = None) -> None:
+        """Check the validity of the parameters for the `goto` method.
+
+        Args:
+            duration: The time in seconds for the movement to be completed.
+            target: The target position, either a list of joint positions or a 4x4 pose matrix.
+            q0: An optional initial joint configuration for inverse kinematics. Defaults to None.
+
+        Raises:
+            TypeError: If the target is not a list or a NumPy matrix.
+            ValueError: If the target list has a length other than 7, or the pose matrix is not of
+                shape (4, 4).
+            ValueError: If the duration is set to 0.
+            ValueError: If the length of `q0` is not 7.
+        """
+        if not (isinstance(target, list) or isinstance(target, np.ndarray)):
+            raise TypeError(f"Invalid target: must be either a list or a np matrix, got {type(target)} instead.")
+
+        elif isinstance(target, list) and not (len(target) == 7):
+            raise ValueError(f"The joints list should be of length 7 (got {len(target)} instead).")
+        elif isinstance(target, np.ndarray) and not (target.shape == (4, 4)):
+            raise ValueError(f"The pose matrix should be of shape (4, 4) (got {target.shape} instead).")
+
+        elif q0 is not None:
+            if not isinstance(q0, list):
+                raise TypeError("Invalid q0: must be a list.")
+            elif len(q0) != 7:
+                raise ValueError(f"q0 should be of length 7 (got {len(q0)} instead)!")
+
+        elif duration == 0:
+            raise ValueError("duration cannot be set to 0.")
+
     def _goto_single_joint(
         self,
         arm_joint: int,
@@ -912,8 +937,15 @@ def send_cartesian_interpolation(
                 the current end-effector position and the target position. If the end-effector is
                 further than this distance from the target after the movement, the movement is repeated
                 until the precision is met. Defaults to 0.003.
+
+        Raises:
+            TypeError: If the target is not a NumPy matrix.
+            ValueError: If the target shape is not (4, 4).
+            ValueError: If the duration is set to 0.
         """
         self.cancel_all_goto()
+        if not isinstance(target, np.ndarray):
+            raise TypeError(f"target should be a NumPy array (got {type(target)} instead)!")
         if target.shape != (4, 4):
             raise ValueError("target shape should be (4, 4) (got {target.shape} instead)!")
         if duration == 0:
diff --git a/src/reachy2_sdk/parts/goto_based_part.py b/src/reachy2_sdk/parts/goto_based_part.py
index 80f43d69..231834c0 100644
--- a/src/reachy2_sdk/parts/goto_based_part.py
+++ b/src/reachy2_sdk/parts/goto_based_part.py
@@ -5,8 +5,8 @@
 
 import logging
 import time
-from abc import ABC
-from typing import List, Optional
+from abc import ABC, abstractmethod
+from typing import Any, List, Optional
 
 from reachy2_sdk_api.goto_pb2 import GoalStatus, GoToAck, GoToId
 from reachy2_sdk_api.goto_pb2_grpc import GoToServiceStub
@@ -143,3 +143,8 @@ def _wait_goto(self, id: GoToId) -> None:
                 return
 
         self._logger_goto.info(f"Movement with {id} finished.")
+
+    @abstractmethod
+    def _check_goto_parameters(self, duration: float, target: Any, q0: Optional[List[float]] = None) -> None:
+        """Check the validity of the parameters for a goto movement."""
+        pass
diff --git a/src/reachy2_sdk/parts/head.py b/src/reachy2_sdk/parts/head.py
index e012002f..67c05f0c 100644
--- a/src/reachy2_sdk/parts/head.py
+++ b/src/reachy2_sdk/parts/head.py
@@ -3,7 +3,7 @@
 Handles all specific methods to a Head.
 """
 
-from typing import Any, List, overload
+from typing import Any, List, Optional, overload
 
 import grpc
 import numpy as np
@@ -171,19 +171,19 @@ def goto(
             degrees (bool, optional): Specifies if the RPY values in `target` are in degrees. Defaults to True.
 
         Raises:
-            ValueError: If the `duration` is set to 0, or if the input type for `target` is invalid.
+            TypeError : If the input type for `target` is invalid
+            ValueError: If the `duration` is set to 0.
 
         Returns:
             GoToId: The unique identifier for the movement command.
         """
-        if duration == 0:
-            raise ValueError("duration cannot be set to 0.")
-
         if not self.neck.is_on():
             self._logger.warning("head.neck is off. No command sent.")
             return GoToId(id=-1)
 
-        if isinstance(target, list) and len(target) == 3:
+        self._check_goto_parameters(duration, target)
+
+        if isinstance(target, list):
             if degrees:
                 target = np.deg2rad(target).tolist()
             joints_goal = NeckOrientation(
@@ -197,8 +197,6 @@ def goto(
             )
         elif isinstance(target, pyQuat):
             joints_goal = NeckOrientation(rotation=Rotation3d(q=Quaternion(w=target.w, x=target.x, y=target.y, z=target.z)))
-        else:
-            raise ValueError("Invalid input type for orientation. Must be either a list of 3 floats or a pyQuat.")
 
         request = GoToRequest(
             joints_goal=JointsGoal(
@@ -222,6 +220,27 @@ def goto(
             self._wait_goto(response)
         return response
 
+    def _check_goto_parameters(self, duration: float, target: Any, q0: Optional[List[float]] = None) -> None:
+        """Check the validity of the parameters for the `goto` method.
+
+        Args:
+            duration: The time in seconds for the movement to be completed.
+            target: The target position, either a list of joint positions or a quaternion.
+
+        Raises:
+            TypeError: If the target is not a list or a quaternion.
+            ValueError: If the target list has a length other than 3.
+            ValueError: If the duration is set to 0.
+        """
+        if not (isinstance(target, pyQuat) or isinstance(target, list)):
+            raise TypeError(f"Invalid orientation: must be either a list or a quaternion, got {type(target)}.")
+
+        elif isinstance(target, list) and len(target) != 3:
+            raise ValueError(f"The joints list should be of length 3, got {len(target)}.")
+
+        elif duration == 0:
+            raise ValueError("duration cannot be set to 0.")
+
     def _goto_single_joint(
         self,
         neck_joint: int,
diff --git a/src/reachy2_sdk/parts/joints_based_part.py b/src/reachy2_sdk/parts/joints_based_part.py
index 2caa5736..bfaf811e 100644
--- a/src/reachy2_sdk/parts/joints_based_part.py
+++ b/src/reachy2_sdk/parts/joints_based_part.py
@@ -84,7 +84,7 @@ def set_torque_limits(self, torque_limit: int) -> None:
                 specified as a float or int.
         """
         if not isinstance(torque_limit, float | int):
-            raise ValueError(f"Expected one of: float, int for torque_limit, got {type(torque_limit).__name__}")
+            raise TypeError(f"Expected one of: float, int for torque_limit, got {type(torque_limit).__name__}")
         if not (0 <= torque_limit <= 100):
             raise ValueError(f"torque_limit must be in [0, 100], got {torque_limit}.")
         req = TorqueLimitRequest(
@@ -101,7 +101,7 @@ def set_speed_limits(self, speed_limit: int) -> None:
                 specified as a float or int.
         """
         if not isinstance(speed_limit, float | int):
-            raise ValueError(f"Expected one of: float, int for speed_limit, got {type(speed_limit).__name__}")
+            raise TypeError(f"Expected one of: float, int for speed_limit, got {type(speed_limit).__name__}")
         if not (0 <= speed_limit <= 100):
             raise ValueError(f"speed_limit must be in [0, 100], got {speed_limit}.")
         req = SpeedLimitRequest(
diff --git a/src/reachy2_sdk/utils/utils.py b/src/reachy2_sdk/utils/utils.py
index 7517aa10..e3825293 100644
--- a/src/reachy2_sdk/utils/utils.py
+++ b/src/reachy2_sdk/utils/utils.py
@@ -59,7 +59,7 @@ def list_to_arm_position(positions: List[float], degrees: bool = True) -> ArmPos
 
     Args:
         positions: A list of float values representing joint positions. The list should contain 7 values
-            in the following order: [shoulder.pitch, shoulder.yaw, elbow.pitch, elbow.yaw, wrist.roll, wrist.pitch, wrist.yaw].
+            in the following order: [shoulder_pitch, shoulder_roll, elbow_yaw, elbow_pitch, wrist_roll, wrist_pitch,wrist_yaw].
         degrees: A flag indicating whether the input joint positions are in degrees. If set to `True`,
             the input positions are in degrees. Defaults to `True`.
 
@@ -100,7 +100,7 @@ def arm_position_to_list(arm_pos: ArmPosition, degrees: bool = True) -> List[flo
 
     Returns:
         A list of joint positions based on the ArmPosition, returned in the following order:
-        [shoulder.pitch, shoulder.yaw, elbow.yaw, elbow.pitch, wrist.roll, wrist.pitch, wrist.yaw].
+        [shoulder_pitch, shoulder_roll, elbow_yaw, elbow_pitch, wrist_roll, wrist_pitch, wrist_yaw].
     """
     positions = []
 
diff --git a/tests/units/offline/test_arm.py b/tests/units/offline/test_arm.py
index cc1f440c..89354226 100644
--- a/tests/units/offline/test_arm.py
+++ b/tests/units/offline/test_arm.py
@@ -101,6 +101,19 @@ def test_class() -> None:
     assert isinstance(arm._actuators, dict)
 
     with pytest.raises(ValueError):
+        arm._check_goto_parameters(duration=0, target=[0, 0, 0, 0, 0, 0, 0])
+    with pytest.raises(ValueError):
+        arm._check_goto_parameters(duration=2, target=[0, 0, 0, 0])
+    with pytest.raises(TypeError):
+        arm._check_goto_parameters(duration=2, target="default")
+    with pytest.raises(ValueError):
+        arm._check_goto_parameters(duration=2, target=np.eye(3))
+    with pytest.raises(TypeError):
+        arm._check_goto_parameters(duration=2, target=np.eye(4), q0=np.eye(4))
+    with pytest.raises(ValueError):
+        arm._check_goto_parameters(duration=2, target=np.eye(4), q0=[0, 0, 0, 0, 0, 0])
+
+    with pytest.raises(TypeError):
         arm.set_speed_limits("wrong value")
 
     with pytest.raises(ValueError):
@@ -109,7 +122,7 @@ def test_class() -> None:
     with pytest.raises(ValueError):
         arm.set_speed_limits(-10)
 
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         arm.set_torque_limits("wrong value")
 
     with pytest.raises(ValueError):
diff --git a/tests/units/offline/test_head.py b/tests/units/offline/test_head.py
index 90be0e4b..10538632 100644
--- a/tests/units/offline/test_head.py
+++ b/tests/units/offline/test_head.py
@@ -1,4 +1,5 @@
 import grpc
+import numpy as np
 import pytest
 from google.protobuf.wrappers_pb2 import BoolValue, FloatValue
 from pyquaternion import Quaternion
@@ -120,6 +121,13 @@ def test_class() -> None:
     assert isinstance(head._actuators, dict)
 
     with pytest.raises(ValueError):
+        head._check_goto_parameters(duration=0, target=[0, 0, 0])
+    with pytest.raises(ValueError):
+        head._check_goto_parameters(duration=2, target=[0, 0, 0, 0])
+    with pytest.raises(TypeError):
+        head._check_goto_parameters(duration=2, target=np.eye(4))
+
+    with pytest.raises(TypeError):
         head.set_speed_limits("wrong value")
 
     with pytest.raises(ValueError):
@@ -128,7 +136,7 @@ def test_class() -> None:
     with pytest.raises(ValueError):
         head.set_speed_limits(-10)
 
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         head.set_torque_limits("wrong value")
 
     with pytest.raises(ValueError):
diff --git a/tests/units/offline/test_orbita2d.py b/tests/units/offline/test_orbita2d.py
index cc537fca..3e06338d 100644
--- a/tests/units/offline/test_orbita2d.py
+++ b/tests/units/offline/test_orbita2d.py
@@ -84,7 +84,7 @@ def test_orbita2d() -> None:
     orbita2d.temperatures["motor_1"] == temperature.motor_1.value
     orbita2d.temperatures["motor_2"] == temperature.motor_1.value
 
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         orbita2d.set_speed_limits("wrong value")
 
     with pytest.raises(ValueError):
@@ -93,7 +93,7 @@ def test_orbita2d() -> None:
     with pytest.raises(ValueError):
         orbita2d.set_speed_limits(-10)
 
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         orbita2d.set_torque_limits("wrong value")
 
     with pytest.raises(ValueError):
diff --git a/tests/units/offline/test_orbita3d.py b/tests/units/offline/test_orbita3d.py
index a90ec9c1..5847d94a 100644
--- a/tests/units/offline/test_orbita3d.py
+++ b/tests/units/offline/test_orbita3d.py
@@ -87,7 +87,7 @@ def test_class() -> None:
     orbita3d.temperatures["motor_2"] == temperature.motor_1.value
     orbita3d.temperatures["motor_3"] == temperature.motor_3.value
 
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         orbita3d.set_speed_limits("wrong value")
 
     with pytest.raises(ValueError):
@@ -96,7 +96,7 @@ def test_class() -> None:
     with pytest.raises(ValueError):
         orbita3d.set_speed_limits(-10)
 
-    with pytest.raises(ValueError):
+    with pytest.raises(TypeError):
         orbita3d.set_torque_limits("wrong value")
 
     with pytest.raises(ValueError):