Add documentation for KUKA Sunrise features and programs

- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons.
- Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller.
- Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer.
- Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording.
- Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux.
- Created a section on installing a Windows compatibility tool (PortProton) on Linux.
- Documented the installation process for SunriseWorkbench on Linux using PortProton.
- Added installation instructions for SunriseWorkbench on Windows.
- Created troubleshooting documentation for configuration errors and SSL errors during installation.
- Implemented a hook to generate the shared PDF only during the default-language build.

doc/lwc-doc/docs/getting-started/concepts/architecture.en.md

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+# System architecture
+
+!!! info "Work in progress"
+    A detailed description of the system architecture is being prepared.
+
+LWC is built as a set of interconnected ROS 2 packages. Key components:
+
+- **iiwa_bringup** — launch files and the entry point for starting the system
+- **iiwa_controller** — hardware interface connecting to the KUKA controller over FRI
+- **iiwa_planning** — MoveIt 2-based motion planning
+- **iiwa_web** — REST API and MCP server for external control
+- **iiwa_description** — URDF robot description and Webots worlds
+- **iiwa_config** — configuration files for MoveIt, controllers, and cameras
+- **iiwa_utils** — helper Python utilities and configuration loading
+- **iiwa_msgs** — custom ROS 2 message types (action and srv)

doc/lwc-doc/docs/getting-started/concepts/fri-protocol.en.md

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+# FRI protocol
+
+!!! info "Work in progress"
+    A detailed description of the FRI protocol is being prepared.
+
+**FRI (Fast Robot Interface)** is a UDP protocol for low-level real-time control of a KUKA robot. It runs over Ethernet and provides a deterministic data exchange cycle between an external PC and the KUKA controller.
+
+## Main characteristics
+
+- **Transport:** UDP (no delivery guarantee, which is important for real-time operation)
+- **Cycle period:** 5 ms (200 Hz) or 10 ms (100 Hz), configured in `cobot-setting.yaml` → `robot.fri_cycle_ms`
+- **Control modes:** position, torque, and impedance
+
+## Network requirements
+
+!!! warning "Important: a 5 ms cycle requires KONI"
+    A **5 ms (200 Hz)** cycle requires the **KONI** port (KUKA Optional Network Interface).
+    The KLI port supports only a 10 ms cycle. Set `fri_cycle_ms: 10` when using KLI.
+
+| Port | Minimum cycle | Purpose |
+|---|---|---|
+| **KONI** | 5 ms | High-frequency control, recommended for FRI |
+| **KLI** | 10 ms | Standard control and programming |

doc/lwc-doc/docs/getting-started/concepts/motion-planning.en.md

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+# Motion planning
+
+!!! info "Work in progress"
+    A detailed description of motion planning is being prepared.
+
+LWC uses **MoveIt 2**, the standard motion-planning framework for ROS 2.
+
+## Key concepts
+
+- **Planning group** (`iiwa_arm`) — the set of joints for which a plan is generated. Defined in SRDF.
+- **Planner** — the trajectory-generation algorithm. Available planners:
+  - `ompl` — general-purpose probabilistic planner (default)
+  - `pilz_industrial_motion_planner` — deterministic PTP, LIN, and CIRC trajectories
+- **TCP (Tool Center Point)** — the tool point for which the target pose is specified. Set in `cobot-setting.yaml` → `planning.pose_link`.
+- **Reference frame** — the coordinate system for targets. Default: `base_link`.
+
+## `cobot-setting.yaml` settings
+
+| Parameter | Description |
+|---|---|
+| `planning.default_planner` | Default planner: `ompl` or `pilz_industrial_motion_planner` |
+| `planning.planning_attempts` | Number of attempts after a planning failure |
+| `planning.pose_link` | TCP link for Cartesian targets |

doc/lwc-doc/docs/getting-started/concepts/simulation.en.md

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+# Simulation (Webots)
+
+!!! info "Work in progress"
+    A detailed simulator guide is being prepared.
+
+**Webots** is an open-source robot simulator. LWC uses it as a digital twin of the KUKA LBR IIWA 7, allowing control algorithms to be developed and debugged without a physical robot.
+
+## Key features
+
+- The simulator uses the same ROS 2 topics and interfaces as the real robot.
+- The simulation world is set in `cobot-setting.yaml` → `digital_twin.webots.world`.
+- Start it with `cobot run --simulate`.
+
+## Differences from the real robot
+
+- There are no real safety constraints, so motion can be faster.
+- Physics is approximate, including inertia, friction, and elasticity.
+- FRI is not used; communication goes through the Webots ROS 2 driver.