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.
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Даниил Грабарь
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# System configuration
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## Main configuration file
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All system parameters are stored in a single file: **`cobot-setting.yaml`** in the project root. It is the single source of truth for the robot IP address, ports, configuration paths, planner settings, and web server settings.
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!!! info "No manual configuration is needed before installation"
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When you run `cobot setup`, the wizard offers to configure this file automatically in **step 2**. Return to this section when you want to change parameters after the initial installation.
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!!! danger "Do not edit the file manually"
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Use only `cobot robot-setup`. The interactive wizard validates values and prevents syntax errors. Editing the YAML manually may cause parsing errors and prevent the system from starting.
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```bash
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cobot robot-setup
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```
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---
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## `robot` section — robot parameters
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Controls the connection to the physical KUKA controller through FRI.
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```yaml
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robot:
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name: "iiwa7"
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ip: "192.170.10.2"
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port: 30200
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fri_cycle_ms: 10
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joint_position_tau: 0.04
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joint_velocity_tau: 0.01
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active_controller: "jtc"
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description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
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```
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| Parameter | Description | Recommendation |
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|---|---|---|
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| `name` | Robot model | Do not change: `iiwa7` |
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| `ip` | KUKA controller IP address | **Change** to the actual controller address |
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| `port` | FRI UDP port | Default: `30200`; change only if the port conflicts |
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| `fri_cycle_ms` | FRI cycle: `5` ms = 200 Hz, `10` ms = 100 Hz | Use `10` for stable operation or `5` for high-precision tasks |
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| `joint_position_tau` | Position EMA filter [s], smoothing commands before transmission | Decrease for a faster response; increase if vibration occurs |
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| `joint_velocity_tau` | Velocity EMA filter [s], removing finite-difference spikes | Tune in the same way as `joint_position_tau` |
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| `active_controller` | Control mode: `jtc` (MoveIt / JointTrajectory) or `forward` (direct control) | Use `jtc` for most tasks |
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| `description` | Path to the robot URDF | Do not change |
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---
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## `digital_twin` section — simulator
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Configures the Webots environment and RViz visualization.
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```yaml
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digital_twin:
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webots:
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world: pkg://iiwa_description/worlds/iiwa.wbt
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transform: "-0.25 0 0.79"
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rotation: "0 0 1 0"
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controller_timer: "50"
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cameras:
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- pkg://iiwa_config/config/cameras/d455_top.yaml
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rviz:
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config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
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```
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| Parameter | Description |
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|---|---|
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| `webots.world` | Path to the simulator `.wbt` world |
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| `webots.transform` | Robot base offset in the world `[x y z]`, in meters |
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| `webots.rotation` | Base orientation `[x y z angle]`, in radians |
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| `webots.cameras` | List of YAML configurations for connected cameras |
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| `rviz.config` | Path to the RViz configuration |
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---
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## `tool` section — active tool
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Specifies which gripper or tool is attached to the robot.
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```yaml
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tool:
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active: "patron"
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```
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| Value | Description |
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|---|---|
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| `none` | No tool |
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| `patron` | Patron chuck/gripper |
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Available tools are defined in `src/iiwa_config/config/tools.yaml`. To add a tool, describe it there and then set its name in `tool.active`.
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---
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## `planning` section — motion planning
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Configures MoveIt 2 and the trajectory planner.
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```yaml
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planning:
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pose_link: "tcp"
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planning_group: "iiwa_arm"
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default_frame: "base_link"
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default_planner: "ompl"
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planning_attempts: 3
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```
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| Parameter | Description | Recommendation |
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|---|---|---|
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| `pose_link` | TCP link used for Cartesian targets | Must match the URDF frame; do not change without updating the URDF |
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| `planning_group` | Planning group from the SRDF | Do not change: `iiwa_arm` |
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| `default_frame` | Default reference frame | Do not change: `base_link` |
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| `default_planner` | Planner: `ompl` or `pilz_industrial_motion_planner` | `ompl` is general purpose; `pilz` produces predictable trajectories |
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| `planning_attempts` | Number of planning attempts after failure | Increase for difficult trajectories |
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---
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## `web` section — REST API and MCP server
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Configures the FastAPI server used to control the robot over HTTP and MCP for AI-agent integration.
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```yaml
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web:
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enabled: true
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host: "0.0.0.0"
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port: 8007
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endpoints: pkg://iiwa_config/config/api_endpoints.yaml
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joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
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```
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| Parameter | Description |
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| `enabled` | Enable (`true`) or disable (`false`) the web server |
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| `host` | Listening address: `0.0.0.0` for all interfaces or `127.0.0.1` for local access only |
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| `port` | HTTP API port; default: `8007` |
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| `endpoints` | Path to the REST endpoint description |
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| `joint_limits` | Path to joint limits used for command validation |
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After startup, the REST API is available at `http://<host>:8007`, and MCP is available at `/mcp`.
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---
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## `foxglove` section — Foxglove Studio monitoring
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[Foxglove Studio](https://foxglove.dev/) visualizes and monitors ROS 2 topics in real time.
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```yaml
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foxglove:
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enabled: true
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port: 8765
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debug: false
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address: 0.0.0.0
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```
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| Parameter | Description |
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| `enabled` | Enable or disable Foxglove Bridge |
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| `port` | WebSocket port used by Foxglove Studio; default: `8765` |
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| `debug` | Detailed logging for the bridge process |
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| `address` | WebSocket listening address |
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The remaining parameters (`tls`, `topic_whitelist`, `min_qos_depth`, and others) are intended for advanced configuration and normally do not need to be changed.
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---
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## What to change and what to keep
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| | Parameter | Action |
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| ✅ | `robot.ip` | **Must be changed** to the controller IP address |
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| ✅ | `robot.fri_cycle_ms` | Select `10` (standard) or `5` (high frequency) |
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| ✅ | `tool.active` | Set the active tool |
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| ✅ | `web.enabled` | Set to `false` if the web interface is not needed |
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| ⚠️ | `robot.active_controller` | Change only when intentionally switching the control mode |
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| ⚠️ | `planning.*` | Change only when another planner or other parameters are required |
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| ❌ | `robot.description` | Do not change; this is the URDF path |
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| ❌ | `controller.moveit.*` | Do not change; these are package-internal MoveIt configuration paths |
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| ❌ | `digital_twin.webots.world` | Do not change unless you understand the Webots world structure |
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