Update and move key concept entries

docs/appendix/glossary/component.md

@@ -8,4 +8,6 @@ aka:
 
 A resource that represents a physical component in a robot which a computer controls; for example, a servo, a camera, or an arm.
 
+Each component is typed by a proto API, such as the [component proto definitions](https://github.com/viamrobotics/api/tree/main/proto/viam/component).
+
 For more information, see [Components](/components/).

docs/appendix/glossary/modular-resource.md

@@ -2,10 +2,13 @@
 title: Modular Resource
 id: modular-resource
 full_link: https://docs.viam.com/modular-resources/
-short_description: A modular resource is a custom model of a component or service that implements the same API methods.
+short_description: A modular resource is a custom model of a component or service that implements the standadized API methods for that resource.
 aka:
 ---
 
-A modular resource is a custom {{< glossary_tooltip term_id="model" text="model" >}} of a {{< glossary_tooltip term_id="component" text="component" >}} or {{< glossary_tooltip term_id="service" text="service" >}} that implements the same [API methods](https://docs.viam.com/program/apis/).
+A modular resource is a custom {{< glossary_tooltip term_id="model" text="model" >}} of a {{< glossary_tooltip term_id="component" text="component" >}} or {{< glossary_tooltip term_id="service" text="service" >}} that implements the standardized [API methods](https://docs.viam.com/program/apis/) for that {{< glossary_tooltip term_id="resource" text="resource" >}}.
+Modular resources are provided by {{< glossary_tooltip term_id="module" text="modules" >}}, and not built into the RDK.
+A modular resource runs in the module process.
+This differs from built-in resources, which run as part of `viam-server`.
 
 For more information see the [Modular Resource Documentation](/modular-resources/).

docs/appendix/glossary/module.md

@@ -6,8 +6,10 @@ short_description: A module provides one or more modular resources, which add re
 aka:
 ---
 
-A module provides one or more {{< glossary_tooltip term_id="modular-resource" text="modular resources" >}}, which add resource types ([components](/components/) and [services](/services/)) or {{< glossary_tooltip term_id="model" text="models" >}} that are not built into Viam.
+A _module_ provides one or more {{< glossary_tooltip term_id="modular-resource" text="modular resources" >}}, which add {{< glossary_tooltip term_id="resource" text="resource" >}} {{< glossary_tooltip term_id="type" text="types" >}} or {{< glossary_tooltip term_id="model" text="models" >}} that are not built into Viam.
+Modules run alongside `viam-server` as separate processs, communicating with `viam-server` over UNIX sockets.
+When the module initializes, it registers those pairs on your robot, making the functionality defined by that pair available for use.
 
-You can extend the capabilities of Viam on your robot by [creating your own module](/modular-resources/create/) or [adding an existing module from the Viam registry](/modular-resources/configure/).
+You can [create your own module](/modular-resources/create/) or [add existing modules from the Viam registry](/modular-resources/configure/).
 
 For more information see the [modular resource documentation](/modular-resources/).

docs/appendix/glossary/resource.md

@@ -17,3 +17,5 @@ Resources are individual, addressable elements of a robot.
 
 Each part has local resources and can also have resources from another {{< glossary_tooltip term_id="remote" text="remote">}} robot part.
 The capabilities of each resource are exposed through the part’s API.
+
+Each resource on your robot implements either one of the [existing Viam APIs](/modular-resources/create/#valid-apis-to-implement-in-your-model), or a [custom interface](/modular-resources/advanced/#new-api-subtypes).

docs/appendix/glossary/service.md

@@ -8,4 +8,6 @@ aka:
 
 Services are built-in software packages for complex capabilities such as SLAM, computer vision, motion planning, and data collection.
 
+Each service is typed by a proto API, such as the [service proto definitions](https://github.com/viamrobotics/api/tree/main/proto/viam/service).
+
 For more information, see [Services](/services/).

docs/modular-resources/_index.md

@@ -32,9 +32,9 @@ You configure and manage modular resources the same way as built-in resources an
 
 ## The Viam Registry
 
-The [Viam registry](https://app.viam.com/registry) is the central place where you can browse modular resources that add capabilities to your smart machine beyond what is built-in to `viam-server`.
+The [Viam registry](https://app.viam.com/registry) is the central place where you can browse {{< glossary_tooltip term_id="module" text="modules" >}} that add capabilities to your smart machine beyond what is built-in to `viam-server`.
 
-You can search the available modular resources from the Viam Registry here:
+You can search the available {{< glossary_tooltip term_id="modular-resources" text="modular resoruces" >}} from the Viam Registry here:
 
 <div id="searchbox"></div>
 <p>

docs/modular-resources/create/_index.md

@@ -18,8 +18,11 @@ aliases:
 no_list: true
 ---
 
-If you cannot find existing modular resources from the [Viam Registry](/modular-resources/#theviamregistry) that support your hardware or software, you can add new {{< glossary_tooltip term_id="module" text="modules" >}}.
-Each module contains one or more {{< glossary_tooltip term_id="modular-resource" text="modular resources" >}} implementing.
+If you cannot find existing modular resources from the [Viam Registry](/modular-resources/#the-viam-registry) that support your hardware or software, you can add new {{< glossary_tooltip term_id="module" text="modules" >}}.
+
+A _module_ provides one or more {{< glossary_tooltip term_id="modular-resource" text="modular resources" >}}, which add {{< glossary_tooltip term_id="resource" text="resource" >}} {{< glossary_tooltip term_id="type" text="types" >}} or {{< glossary_tooltip term_id="model" text="models" >}} that are not built into Viam.
+Modules run alongside `viam-server` as separate processs, communicating with `viam-server` over UNIX sockets.
+When the module initializes, it registers those pairs on your robot, making the functionality defined by that pair available for use.
 
 In most cases, the {{< glossary_tooltip term_id="modular-resource" text="modular resources" >}} you create should be a new [model](/modular-resources/key-concepts/#models) that implements an existing Viam [API](/program/apis/).
 For example, if you have a custom base, you can create a new base model that implements the `rdk:component:base` API.
@@ -503,7 +506,7 @@ Additional examples are available in the [in the RDK GitHub repository](https://
 Name your model according to the namespace of the built-in API you are implementing using all lowercase letters for optimal performance with Viam's SDKs.
 For example, `mybase` or `my-cool-sensor`.
 
-For more information see [Naming your model](/modular-resources/upload/#naming-your-model-namespacerepo-namename).
+For more information see [Naming your model](/modular-resources/key-concepts/#naming-your-model-namespacerepo-namename).
 
 {{% /alert %}}
 

docs/modular-resources/key-concepts.md

@@ -18,38 +18,9 @@ aliases:
   - "/program/extend/modular-resources/key-concepts/"
 ---
 
-Viam's [Robot Development Kit (RDK)](/internals/rdk/) provides built-in support for a variety of {{< glossary_tooltip term_id="resource" text="resources" >}}:
-
-- Various types of hardware [components](/components/).
-- High-level functionality exposed as [services](/services/).
-
-However, if you want to work with a new hardware component that is not already supported by Viam, or want to introduce a new software service or service model to support additional functionality on your smart machine, you can extend Viam by adding a _{{< glossary_tooltip term_id="modular-resource" text="modular resource" >}}_ to your smart machine.
-
-Modular resources are defined in _modules_, which are easy to create and add to your robot.
-A module can provide one or more modular resource models, and can be added to any smart machine running on Viam.
-
-## Modules
-
-A _module_ provides one or more [_modular resources_](#resources), and is a flexible way to extend the functionality of your Viam robot.
-Modules run alongside `viam-server` as a separate process, communicating with `viam-server` over a UNIX socket.
-A module provides definitions for one or more pairs of [APIs](#valid-apis-to-implement-in-your-model) and [models](#models).
-
-When the module initializes, it registers those pairs on your robot, making the functionality defined by that pair available for use.
-
-## Resources
-
-A resource is a [component](/components/) or [service](/services/).
-Each component or service is typed by a proto API, such as the [component proto definitions](https://github.com/viamrobotics/api/tree/main/proto/viam/component).
-
-Any resource on your robot needs to implement either one of the [existing Viam APIs](#valid-apis-to-implement-in-your-model), or a [custom interface](/modular-resources/advanced/#new-api-subtypes).
-
-A _modular resource_ is a resource that is provided by a [module](#modules), and not built into the RDK.
-A modular resource runs in the module process.
-This differs from built-in resources, which run as part of `viam-server`.
-
 ## Models
 
-A _model_ describes a specific implementation of a [resource](#resources) that implements (speaks) its [API](/program/apis/).
+A _model_ describes a specific implementation of a {{< glossary_tooltip term_id="resource" text="resource" >}} that implements (speaks) its [API](/program/apis/).
 Models allow you to control hardware or software of a similar category, such as motors, with a consistent set of methods as an interface, even if the underlying implementation differs.
 
 For example, some DC motors communicate using [GPIO](/components/board/), while other DC motors use serial protocols like the [SPI bus](/components/board/#spis).
@@ -63,7 +34,7 @@ See [Naming your model](#naming-your-model-namespacerepo-namename) for more info
 Models are either:
 
 - Built into the RDK, and included when you [install `viam-server`](/installation/) or when you use one of the [Viam SDKs](/program/apis/).
-- Provided in [custom modules](#modules) available for download from the [Viam registry](https://app.viam.com/registry), and are written by either Viam or community users.
+- Provided in {{< glossary_tooltip term_id="modules" text="custom modules" >}} available for download from the [Viam registry](https://app.viam.com/registry), and are written by either Viam or community users.
   Custom modules can also be [local](/modular-resources/configure/#local-modules).
 
 ### Built-in models