DOCS-4036: Add more frame and geometry content, remove arm no code

docs/dev/reference/changelog.md

@@ -63,7 +63,7 @@ Organization owners and location owners can now move machines between locations
 {{% changelog color="removed" title="Frame tab removed, use Add Frame button" date="2025-05-15" %}}
 
 The frame tab no longer exists.
-To add a frame to a component, click the **+ Add Frame** button on the component's configuration card.
+To add a frame to a component, click the **+ Add frame** button on the component's configuration card.
 
 {{% /changelog %}}
 

docs/dev/reference/glossary/origin-frame.md

@@ -0,0 +1,16 @@
+---
+title: Origin frame
+id: origin-frame
+full_link:
+short_description: The origin frame is the frame at the base of an arm or other component that has a complex kinematics chain.
+---
+
+The origin frame is the frame at the base of an arm, gantry, or other component that has a complex kinematics chain.
+This is typically the point at the center of where the component is mounted to a table or stand.
+
+Every component that has a kinematics chain has an origin frame and an end effector frame, for example `my_arm_origin` and `my_arm`.
+
+If you parent a gripper to the arm's `my_arm` frame, the frame system will know the gripper is at the end of the arm.
+If you mistakenly parent the gripper to the arm's `my_arm_origin` frame, the frame system will think the gripper is at the base of the arm, and the gripper will not move when you move the arm.
+
+For more information, see [How the frame system works](/operate/reference/services/frame-system/#how-the-frame-system-works).

docs/dev/reference/glossary/world-frame.md

@@ -0,0 +1,14 @@
+---
+title: World frame
+id: world-frame
+full_link: /operate/mobility/move-arm/frame-how-to/
+short_description: The fixed, user-defined global coordinate system that is the reference point for all other coordinate frames in a robotic system.
+aka: world frame, world
+---
+
+The world reference [frame](/operate/reference/services/frame-system/) is the fixed, global coordinate system that serves as the reference point for all other coordinate frames in a robotic system.
+It provides a consistent basis for describing the position and orientation of robots, components, and objects in the physical space.
+All other coordinate frames (like robot frames, component frames, etc.) are defined relative to this world frame, either directly or through a chain of transformations.
+
+The user chooses the world frame, and defines it implicitly.
+For example, if you have a robot arm mounted on a table and you define the arm's base frame as the world frame, then the arm's base frame is the origin of the world frame.

docs/operate/_index.md

@@ -43,8 +43,9 @@ To get started, install Viam on any device and integrate your hardware. Then you
 {{< /cards >}}
 {{< /how-to-expand >}}
 
-{{< how-to-expand "Intelligent actuation and motion planning" "3" "INTERMEDIATE" "" "build-platform-motion" >}}
+{{< how-to-expand "Intelligent actuation and motion planning" "4" "INTERMEDIATE" "" "build-platform-motion" >}}
 {{< cards >}}
+{{% card link="/operate/mobility/motion-concepts/" noimage="true" %}}
 {{% card link="/operate/mobility/move-arm/" noimage="true" %}}
 {{% card link="/operate/mobility/move-base/" noimage="true" %}}
 {{% card link="/operate/mobility/move-gantry/" noimage="true" %}}

docs/operate/get-started/other-hardware/_index.md

@@ -5,5 +5,6 @@ layout: "empty"
 type: "docs"
 empty_node: true
 open_on_desktop: true
+description: "Integrate other hardware or software by creating a module."
 canonical: "/operate/get-started/other-hardware/create-module/"
 ---

docs/operate/mobility/motion-concepts.md

@@ -39,12 +39,14 @@ You can use the following components to augment motion planning and navigation:
 
 ## The frame system
 
-Viam's [frame system](/operate/reference/services/frame-system/) is a way to describe the spatial relationship between the components in your robot.
-The motion service uses the frame system to plan the motion of components.
+Viam's [frame system](/operate/reference/services/frame-system/) allows you to describe the spatial relationship between the components in your robot.
+You configure your machine's frames once, and Viam keeps track of the frames as they move.
+This means you can send motion service commands using a consistent coordinate system, regardless of where the components are at a given time.
 
-For example, if you want to command an arm to move to coordinates of `(300, 0, 0)` millimeters, you first need to define the origin `(0, 0, 0)` of the coordinate system and the directions of the x, y, and z axes to give those coordinates meaning.
+You must configure frames before you can use the motion service.
+For example, if you want to command an arm to move to coordinates of `(300, 0, 0)` millimeters, you first need to decide on the origin `(0, 0, 0)` and the directions of the x, y, and z axes of the {{< glossary_tooltip term_id="world-frame" text="world" >}} coordinate system to give your coordinates meaning.
 
-To give the necessary context, you define the arm's `frame` to describe its position and orientation relative to the world.
+You then define the arm's `frame` to describe its position and orientation relative to the world frame.
 If you also have a gripper component, you define the gripper's `frame` to describe its position and orientation relative to the arm, so that when the arm moves, the motion service knows where the gripper is as well.
 
 ### Visualize components and frames

docs/operate/mobility/move-arm/arm-motion.md

@@ -9,6 +9,7 @@ aliases:
   - /how-tos/move-robot-arm/
   - /tutorials/motion/accessing-and-moving-robot-arm/
   - /tutorials/motion/
+  - /operate/mobility/move-arm/arm-no-code/
 date: "2025-05-21"
 ---
 
@@ -142,7 +143,7 @@ The available geometry types are:
 | Geometry type | Description | Dimensions to define |
 | ------------- | ----------- | ------------------ |
 | box           | A rectangular prism. | `x`, `y`, `z`: length in each direction in mm. |
-| capsule       | A cylinder with hemispherical end caps. | `radius` in mm, `length` in mm between the centers of the hemispherical end caps. |
+| capsule       | A cylinder with hemispherical end caps. | `radius` in mm, overall `length` in mm. |
 | sphere        | A sphere. | `radius` in mm. |
 | mesh          | A 3D model defined by a mesh. | `triangles`: a list of triangles, each defined by three vertices. |
 
@@ -317,7 +318,7 @@ Follow the steps below to construct the necessary objects and pass them to `Move
    {{< /tabs >}}
 
    {{% alert title="Tip" color="tip" %}}
-   To get a better intuition for poses and where you want the arm to move, try [driving the arm manually with the control interface](/operate/mobility/move-arm/arm-no-code/) and notice how the pose indicated in the control interface corresponds to the arm's position in the real world.
+   To get a better intuition for poses and where you want the arm to move, try driving the arm manually from the **CONTROL** tab or **TEST** panel and notice how the pose indicated in the control interface corresponds to the arm's position in the real world.
 
    You can also [use the **VISUALIZE** tab](/operate/reference/services/frame-system/#visualize-components-and-frames) to see a representation of your arm's geometry and reference frames.
    {{% /alert %}}