DOCS-1781: Handle planning for the zero pose

docs/mobility/motion/_index.md

@@ -358,26 +358,29 @@ logger.Info("Orientation of myArm from the motion service:", myArmMotionPose.Pos
 ### MoveOnMap
 
 Move a [base](/components/base/) component to a destination [`Pose`](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Pose) on a {{< glossary_tooltip term_id="slam" text="SLAM" >}} map.
-Use the machine's position reported by the {{< glossary_tooltip term_id="slam" text="SLAM" >}} service to check the location of the machine.
-
-{{< alert title="Usage" color="tip" >}}
 
 `MoveOnMap()` is non blocking, meaning the motion service will move the component to the destination [`Pose`](https://python.viam.dev/autoapi/viam/proto/common/index.html#viam.proto.common.Pose) after `MoveOnMap()` returns.
 
-Each successful `MoveOnMap()` call retuns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnMap()` call.
+Each successful `MoveOnMap()` call returns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnMap()` call.
+
+{{< alert title="Info" color="info" >}}
+If you specify a goal pose or orientation and the robot's current position is already at the goal post or orientation, `MoveonMap` returns an error.
+{{< /alert >}}
 
 You can monitor the progress of the `MoveOnMap()` call by querying `GetPlan()` and `ListPlanStatuses()`.
 
+Use the machine's position reported by the {{< glossary_tooltip term_id="slam" text="SLAM" >}} service to check the location of the machine.
+
 `MoveOnMap()` is intended for use with the [navigation service](/mobility/navigation/), providing autonomous indoor navigation for rover [bases](/components/base/).
 
+{{< alert title="Requirements" color="info" >}}
 To use `MoveOnMap()`, your [SLAM service](/mobility/slam/) must implement `GetPointCloudMap()` and `GetPosition()`
 
-Make sure the [SLAM service](/mobility/slam/) you use supports usage of the following methods in its {{< glossary_tooltip term_id="model" text="model's" >}} implementation of the [SLAM service API](/mobility/slam/#api):
+Make sure the [SLAM service](/mobility/slam/) you use alongside the this motion service supports the following methods in its {{< glossary_tooltip term_id="model" text="model's" >}} implementation of the [SLAM service API](/mobility/slam/#api):
 
 - It must support `GetPointCloudMap()` to report the SLAM map as a pointcloud.
 - It must support `GetPosition()` to report the machine's current location on the SLAM map.
-
-{{< /alert >}}
+  {{< /alert >}}
 
 {{< tabs >}}
 {{% tab name="Python" %}}
@@ -474,25 +477,27 @@ executionID, err := motionService.MoveOnMap(context.Background(), motion.MoveOnM
 Move a [base](/components/base/) component to a destination GPS point, represented in geographic notation _(latitude, longitude)_.
 Use a [movement sensor](/components/movement-sensor/) to check the location of the machine.
 
-{{< alert title="Usage" color="tip" >}}
-
 `MoveOnGlobe()` is non blocking, meaning the motion service will move the component to the destination GPS point after `MoveOnGlobe()` returns.
 
-Each successful `MoveOnGlobe()` call retuns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnGlobe()`.
+Each successful `MoveOnGlobe()` call returns a unique `ExecutionID` which you can use to identify all plans generated during the `MoveOnGlobe()`.
+
+{{< alert title="Info" color="info" >}}
+If you specify a goal pose or orientation and the robot's current position is already at the goal post or orientation, `MoveonMap` returns an error.
+{{< /alert >}}
 
 You can monitor the progress of the `MoveOnGlobe()` call by querying `GetPlan()` and `ListPlanStatuses()`.
 
 `MoveOnGlobe()` is intended for use with the [navigation service](/mobility/navigation/), providing autonomous GPS navigation for rover [bases](/components/base/).
 
+{{< alert title="Requirements" color="info" >}}
 To use `MoveOnGlobe()`, your movement sensor must be able to measure the GPS location and orientation of the machine.
 
 Make sure the [movement sensor](/components/movement-sensor/) you use supports usage of the following methods in its {{< glossary_tooltip term_id="model" text="model's" >}} implementation of the [movement sensor API](/components/movement-sensor/#api).
 
 - It must support `GetPosition()` to report the machine's current GPS location.
 - It must **also** support **either** `GetCompassHeading()` or `GetOrientation()` to report which way the machine is facing.
 - If your movement sensor provides multiple methods, your machine will default to using the values returned by `GetCompassHeading()`.
-
-{{< /alert >}}
+  {{< /alert >}}
 
 {{< alert title="Stability Notice" color="alert" >}}