Base, arm examples and API description fixes

Author: JessamyT

docs/dev/reference/apis/components/arm.md

@@ -3,14 +3,15 @@ title: "Arm API"
 linkTitle: "Arm"
 weight: 10
 type: "docs"
-description: "Give commands to your arm components for linear motion planning, including self-collision prevention and obstacle avoidance."
+description: "Give commands to your arm components for linear motion planning."
 icon: true
 images: ["/icons/components/arm.svg"]
 date: "2022-01-01"
 # updated: ""  # When the content was last entirely checked
 ---
 
-The arm API allows you to give commands to your [arm components](/components/arm/) for linear motion planning, including self-collision prevention and obstacle avoidance.
+The arm API allows you to give commands to your [arm components](/components/arm/) for linear motion planning.
+If you want self-collision prevention and obstacle avoidance, use the [motion API](/dev/reference/apis/services/motion/).
 
 The arm component supports the following methods:
 

docs/dev/reference/apis/services/motion.md

@@ -3,14 +3,14 @@ title: "Motion Service API"
 linkTitle: "Motion"
 weight: 40
 type: "docs"
-description: "Give commands to move a machine based on a SLAM map or GPS coordinates or to move a machine's components from one location to another."
+description: "Give commands to move a machine's components from one location or pose to another."
 icon: true
 images: ["/icons/components/arm.svg"]
 date: "2022-01-01"
 # updated: ""  # When the content was last entirely checked
 ---
 
-The motion service API allows you to give commands to your [motion service](/services/motion/) for moving a machine based on a SLAM map or GPS coordinates or for moving a machine's components from one location to another.
+The motion service API allows you to give commands to your [motion service](/services/motion/) for moving a mobile robot based on a SLAM map or GPS coordinates or for moving a machine's components from one pose to another.
 
 The motion service supports the following methods:
 

docs/operate/control/mobile-app.md

@@ -78,7 +78,7 @@ class BaseScreen extends StatelessWidget {
 See the guide for full code and instructions to get started by building a simple app to control a rented Viam rover:
 
 {{< cards >}}
-{{% card link="/tutorials/control/mobile-app/drive-rover/" %}}
+{{% card link="/tutorials/control/drive-rover/" %}}
 {{< /cards >}}
 
 For a more in-depth guide with more screens, see the following guide:

docs/operate/mobility/define-obstacles.md

@@ -7,3 +7,10 @@ type: "docs"
 no_list: true
 description: "Spatially describe your robot's working environment for collision avoidance."
 ---
+
+## Example usage
+
+{{< cards >}}
+{{% card link="/tutorials/services/constrain-motion/" %}}
+{{% card link="/tutorials/projects/claw-game/" %}}
+{{< /cards >}}

docs/operate/mobility/move-arm.md

@@ -8,9 +8,21 @@ no_list: true
 description: "Move an arm with joint positions or automated motion planning."
 ---
 
-You can move a robotic arm either with the direct joint position commands of the [arm API](/dev/reference/apis/components/arm/), or with automated complex motion planning using the [motion planning service API](/dev/reference/apis/services/motion/).
+You have two options for moving a robotic arm:
+
+- Use direct joint position commands and simple linear commands with the [arm API](/dev/reference/apis/components/arm/)
+- Use automated complex motion planning with the [motion planning service API](/dev/reference/apis/services/motion/)
 
 {{< cards >}}
 {{% card link="/dev/reference/apis/components/arm/" %}}
 {{% card link="/dev/reference/apis/services/motion/" %}}
 {{< /cards >}}
+
+## Tutorials and example usage
+
+{{< cards >}}
+{{% card link="/how-tos/move-robot-arm/" %}}
+{{% card link="/tutorials/services/plan-motion-with-arm-gripper/" %}}
+{{% card link="/tutorials/services/constrain-motion/" %}}
+{{% card link="/tutorials/projects/claw-game/" %}}
+{{< /cards >}}

docs/operate/mobility/move-base.md

@@ -1,9 +1,28 @@
 ---
 linkTitle: "Move a base"
-title: "Move a base through space"
+title: "Move a wheeled robot base"
 weight: 40
 layout: "docs"
 type: "docs"
 no_list: true
 description: "Move a mobile robot with manual or autonomous navigation."
 ---
+
+You have three options for moving a mobile robot base:
+
+- Give direct commands such as `Spin` and `MoveStraight` using the [base API](/dev/reference/apis/components/base/)
+- Send the base to a destination on a SLAM map or to a GPS coordinate using the [motion planning service API's](/dev/reference/apis/services/motion/) `MoveOnMap` or `MoveOnGlobe` commands, respectively
+- Define waypoints and move your base along those waypoints while avoiding obstacles, using the [navigation service API](/dev/reference/apis/services/navigation)
+
+{{< cards >}}
+{{% card link="/dev/reference/apis/components/base/" %}}
+{{% card link="/dev/reference/apis/services/motion/" %}}
+{{% card link="/dev/reference/apis/services/navigation/" %}}
+{{< /cards >}}
+
+## Example usage
+
+{{< cards >}}
+{{% card link="/tutorials/control/drive-rover/" %}}
+{{% card link="/tutorials/services/navigate-with-rover-base/" %}}
+{{< /cards >}}

docs/operate/mobility/move-gantry.md

@@ -7,3 +7,13 @@ type: "docs"
 no_list: true
 description: "Move a gantry with linear actuator positions or automated motion planning."
 ---
+
+You have two options for moving a gantry:
+
+- Move each axis of the gantry directly with the [gantry API](/dev/reference/apis/components/gantry/)
+- Use automated complex motion planning with the [motion planning service API](/dev/reference/apis/services/motion/)
+
+{{< cards >}}
+{{% card link="/dev/reference/apis/components/gantry/" %}}
+{{% card link="/dev/reference/apis/services/motion/" %}}
+{{< /cards >}}