Apply suggestions from code review

Author: JessamyT

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

@@ -8,7 +8,7 @@ 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.
+All other coordinate frames (such as machine frames and component frames) 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/mobility/move-arm/configure-additional.md

@@ -64,7 +64,7 @@ Configure the gripper's frame to describe its position and orientation relative
 1. Check whether your gripper has a kinematics file.
 
    Some grippers have [kinematics files](/operate/reference/kinematic-chain-config/) that describe the position and orientation of the jaws of the gripper as they move, relative to the gripper's base.
-   This file typically also contains geometries to represent the gripper's volume and avoid collisions between the gripper and its environment.
+   This file typically also contains geometries that represent the gripper's volume to avoid collisions between the gripper and its environment.
    You can check whether your gripper has a kinematics file by looking in its module source code, or by using the [`GetKinematics` method](/dev/reference/apis/components/gripper/).
 
    If you have a kinematics file, you do not need to add any geometries to the gripper's frame, assuming the gripper appears as expected in the **VISUALIZE** tab.

docs/operate/mobility/move-arm/frame-how-to.md

@@ -21,7 +21,7 @@ The world reference frame is the fixed coordinate system that serves as the refe
 You choose the world frame, in whatever way is convenient for your application.
 It generally makes sense to define the world frame's location as a point in your space that does not move and is easy to measure from.
 
-For example, if you are using a robot arm mounted to a table, it can be convenient to define the arm's base frame as equal to the world frame, or you can define the world frame as one corner of the table that the arm is mounted to.
+For example, if you are using a robot arm mounted to a table, it can be convenient to decide that the world frame origin is at the base of the arm, or you can define the world frame origin as one corner of the table that the arm is mounted to.
 
 You do not explicitly configure the world frame.
 You define it implicitly by configuring the frame of a component relative to world.