Yeah, venomous means they inject toxins through a bite or sting, and poisonous means they're harmful when eaten or touched
I lizards are actually venomous not poisonous like Gila Monsters and Komodo Dragons.
Frogs in the other hand are mostly poisonous (due to their diet, which is why you can have dart frogs as pets), but I found out these Brazilian frogs are actually venomous not poisonous!
Bruno's casque-headed frog, and Greening's frog, they have spikes on their head that they use to inject venom by headbutting.
Snakes can be either or both
(Poisonous snakes or ones that are both would be more because of consumption rather than due to touch it. However the Rhabdophis keelback has a venomous bite and is also one of the few that actually secretes poison (due to its diet of poisonous frogs)
Centipedes and Scorpions would be just venomous
Oh, but toads are poisonous not venomous, so I guess the martial art should say they’re frogs instead of toads ╮( ̄▽ ̄)╭

But frogs and lizards are poisonous not venomous right?
poisonous:-You eat, smell, touch it ;you die
Venomous: it bites you; you die