chapter faults added

FFTAI · Dec 22, 2023 · 5145c2a · 5145c2a
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diff --git a/docs/concepts/faults.md b/docs/concepts/faults.md
@@ -1,3 +1,40 @@
-faults
+# Faults, Causes, and Solutions
 
-稍后见~拼命扒字中。。。
+| Fault Description                 | Possible Causes                                          | Solutions                                                                                                                                                  |
+| --------------------------------- | -------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| Robot cannot start normally       | Upper limbs not calibrated                               | 1. Turn off the embedded robot computer.<br />2. Perform calibration according to the procedures stated in the following section.<br />3. Start the robot. |
+|                                   | Abnormal wiring connections                              | Check the wiring connections of all interfaces and start the robot.                                                                                        |
+|                                   | Emergency Stop switch not released                       | Release the Emergency Stop switch and then start the robot.                                                                                                |
+| Robot cannot stand or walk stably | Low battery level                                        | Charge the robot.                                                                                                                                          |
+|                                   | Actuators overheating resulting from long-time operation | Stop operation, allow for cooling before resuming use.                                                                                                     |
+
+For any other operational irregularities, kindly reach out to Fourier Intelligence after-sales engineers for expert assistance.
+
+## Calibration Procedure
+
+If the upper limb posture appears abnormal or if the motors have been replaced, you should perform zero calibration. The calibration procedure is as follows:
+
+1. Turn off the robot actuators and the embedded robot computer.
+2. Insert the calibration tool into the robot's lower limbs and waist joint pinholes. There are `6*2` zero-position pinholes in the lower limbs and `3*1` zero-position pinholes in the waist.
+
+   ![1703213432655](image/operation_instruction/1703213432655.png)![1703213495926](image/operation_instruction/1703213495926.png)
+3. Connect the embedded robot computer to a monitor through the extension dock. Plug in a keyboard and a mouse into the extension dock as well.
+4. Release the Emergency Stop switch and power on the embedded robot computer. The login password is `fftai2015`.
+5. Open a terminal and input the following command:
+
+   ```powershell
+   cd ~/Documents/server_app/bin/pythonscripts/
+   python3 abs_run.py
+
+   ```
+   If prompted with `get abs angle complete!`, it indicates successful completion.
+   6.Run the following commands:
+
+   ```powershell
+   python3 checkabsjson.py
+   python3 setmotorzeropos.py
+   ```
+   If prompted with `Set Motor Zero Position Success`, it signifies successful zero-point setting.
+6. Shut down the embedded robot computer.
+7. Press down the Emergency Stop switch.
+8. Remove the calibration tools. Ensure that all calibration tools have been removed before proceeding with other operations.
diff --git a/docs/concepts/image/operation_instruction/1703213432655.png b/docs/concepts/image/operation_instruction/1703213432655.png
diff --git a/docs/concepts/image/operation_instruction/1703213495926.png b/docs/concepts/image/operation_instruction/1703213495926.png
diff --git a/docs/concepts/image/operation_instruction/1703237619698.png b/docs/concepts/image/operation_instruction/1703237619698.png
diff --git a/docs/concepts/operation_instruction.md b/docs/concepts/operation_instruction.md
@@ -1,18 +1,46 @@
 # Operation Instruction
 
-## Before power-on
+This section is to guide you through the process of setting up and operating the Fourier Robot. Since the robot is delivered fully assembled, we will focus on the initial setup and basic operation.
 
-Do the following steps before powering on the robot:
+## Initial Setup and Powering on
 
-### Inspecting robot
+### Unpacking the Robot
 
-1. Ensure that the robot is fastened to the support stand.
-2. Ensure that the batteries of robot and the support stand are fully chareged.
+!> Due to the substantial weight and intricate design of the robot, it is crucial to engage at least two individuals in the unboxing process. This collaborative effort ensures safe and secure handling, minimizing the risk of potential damage caused by pinching or accidental dropping.
+
+To begin, carefully follow these steps:
+
+1. Begin by extracting the robot from its packaging box.
+2. Verify the items against the provided packing list.
+
+| Items              | Quantity | Comments                                   |
+| :----------------- | :------- | ------------------------------------------ |
+| **Standard Items** |          |                                            |
+| Robot              | 1        |                                            |
+| Power Adapter      | 1        |                                            |
+| Remote Controller  | 1        |                                            |
+| User Manual        | 1        |                                            |
+| Certification      | 1        |                                            |
+| Calibration Tools  | 15       |                                            |
+| Extension Dock     | 1        |                                            |
+| **Optional Items** |          |                                            |
+| Protective Lift    | 1        | If required, kindly purchase it separately |
+
+3. Remove protective coverings to prepare the robot for use.
+
+### Charging
+
+Before the initial use, it's essential to ensure that the robot, Remote Controller, and protective lift (if purchased) are fully charged using the provided chargers.
+
+### Inspecting Robot before Power-on
+
+1. Ensure that the robot is fastened to the protective lift.
+2. Ensure that the batteries of robot and the protective lift are fully charged.
 3. Ensure that the robot components moves smoothly.
 
 ![](static/1698657344119.png ":size=80%")
 
-### Inspecting environment
+### Inspecting Environment before Power-on
 
 1. Ensure that there is a 4-meter clearance around the robot.
 2. Ensure that the ground is level and dry.
@@ -26,44 +54,26 @@ Do the following steps before powering on the robot:
 
 ![](static/1698657743472.png ":size=80%")
 
-### Preparing arms for calibration
+### Preparingfor Startup
 
-1. Align shoulder grooves.
+1. Align shoulder slots.
 2. Keep the arms hanging straight down with the palms facing inward.
 3. Ensure a 10 cm interval between palms and hips.
 4. Ensure that the robot stands upright.
 
 ![](static/1698658681237.png ":size=80%")
 
-## Powering on Robot
+## Starting up Robot
 
 1. Press actuator power-on button.
-2. Press robot host power-on button.
-3. Release e-stop switch.
-
-![](static/1698659185945.png ":size=80%")
-
-4. Initialize robot arms and legs through desktop terminal.
+2. Press embedded computer power-on button.
+3. Release Emergence Stop switch.
 
-   Enter the following command to calibrate arms.
+![](static/poweron.png ":size=80%")
 
-   ```
+!>The robot has started successfullly if the indicator lights of actuators and embedded robot computer flash regularly.
 
-   $sh arm .sh
-
-   ```
-
-   Enter the following command to calibrate legs.
-
-   ```
-
-   $sh leg.sh
-
-   ```
-
-!>The robot has started successfullly if the indicator lights of actuators and robot host flash regularly.
-
-![](static/1698661268810.png ":size=80%")
+![](static/1698661268810.png ":size=30%")
 
 ## Connecting Remote Controller to Robot
 
@@ -78,13 +88,12 @@ Do the following steps before powering on the robot:
 
 ## Landing Robot
 
-1. Ensure that the robot is fastened to the support stand.
+1. Ensure that the robot is fastened to the protective lift.
 2. Click **Initial** to make the robot to initial state.
 
 ![](static/1698744141867.png ":size=80%")
 
-3. Lower the robot with the lift of the support stand and ensure the robot's feet stably contact with the ground.
-
+3. Lower the robot with the lift of the protective lift and ensure the robot's feet stably contact with the ground.
 4. Click **Stand** in the remote controller.
 
 ![](static/1698744210172.png ":size=80%")
@@ -94,11 +103,7 @@ Do the following steps before powering on the robot:
 1. Power on the remote controller and connect to the robot's Wi-Fi.
 2. Operate the remote controller to control the motion of the robot.
 
-   Use left handler to move the robot.
-
-   Use right handler to control the vision field.
-
-![](static/1698744913325.png ":size=80%")
+   ![1703237619698](image/operation_instruction/1703237619698.png)
 
 ## Halting Robot Motion
 
@@ -111,7 +116,7 @@ Following two approaches are used to halt the motion of the robot:
 
 ## Powering off Robot
 
-1. Fasten the robot to the supoort stand.
+1. Fasten the robot to the protective lift.
 2. Press the E-stop button.
 3. Press the actuator power button to power off the actuator.
 4. Connect the robot to the monitor.

diff --git a/docs/concepts/static/1698657743472.png b/docs/concepts/static/1698657743472.png
diff --git a/docs/concepts/static/1698661268810.png b/docs/concepts/static/1698661268810.png
diff --git a/docs/concepts/static/poweron.png b/docs/concepts/static/poweron.png
diff --git a/docs/demo_app/connnecting_to_robot.md b/docs/demo_app/connnecting_to_robot.md
@@ -14,12 +14,11 @@ If you are using the Remote Controller, follow these steps:
 
 1. Power on the Remote Controller and the RoCS Control App is launched automatically.
 2. On the app interface, click on the `Connect` button in the right corner (if not connected). You will be guided to the Start Robot process.
-
-   ![1702459267834](image/connnecting_to_robot/1702459267834.png)
+   ![](static/login-notconnected.png ":size=25%")
 3. Finish the powering on step according to the on-screen instructions.
-   The robot's Wi-Fi hotspot functionality is enabled automatically during the booting of the robot's inside computer.
+   The robot's Wi-Fi hotspot functionality is enabled automatically during the booting of the embedded computer.
 
-   ![1702459156201](image/connnecting_to_robot/1702459156201.png)
+   ![](static/startup-calibration.png)
 4. Click on `Device Connection` (Step 2) of the Start Robot workflow. This will lead you to the `System Setting` -> `Networking Setting` of your mobile device, where you can choose the robot's Wi-Fi hotspot (Default account: gr1-XXXXXX, Default password: 66668888).
 
    ![1702460687314](image/connnecting_to_robot/1702460687314.png)
@@ -31,6 +30,9 @@ To establish a general Wi-Fi connection, it's necessary to manually assign the I
 1. **Determine the IP Address of the Embedded Robot Computer** :
 
 * Connect a monitor to the embedded robot computer.
+
+![1703226801105](image/connnecting_to_robot/1703226801105.png)
+
 * Open a terminal and execute the command `ifconfig`. This will display the IP address of the embedded robot computer.
 
 2. **Configure the Control APP** :
@@ -58,9 +60,9 @@ After establishing the connection, it's essential to verify that the RoCS Contro
 1. Return to Control App.
 2. Check connection Status:
 
-   * Check that the "Device connected" step is shown in the Start Robot workflow, indicating that the APP is successfully connected to robot.
+   * Check that the "Connected" step is shown in the Start Robot workflow, indicating that the APP is successfully connected to robot.
 
-     ![1702457545190](image/connnecting_to_robot/1702457545190.png)
+     ![img](static/connected.png)
 
 ## Troubleshooting
 

diff --git a/docs/demo_app/control_robot_movements.md b/docs/demo_app/control_robot_movements.md
@@ -39,6 +39,8 @@ To engage the robot in Stand Mode:
    ![1702624935410](image/control_robot_movements/1702624935410.png)
 3. The robot will maintain a static standing position until instructed otherwise.
 
+!> Avoid keeping robot in the stand position for an extended period, as it can cause damage to ankle actuators due to overloading.
+
 ## End Effector Motion
 
 End Effector Motion Mode introduces a specialized mode for controlling the robot's end effector grasping actions. This mode is designed for tasks involving object manipulation, adding a unique capability to the robot.

diff --git a/docs/demo_app/image/connnecting_to_robot/1703226801105.png b/docs/demo_app/image/connnecting_to_robot/1703226801105.png
diff --git a/docs/demo_app/settings.md b/docs/demo_app/settings.md
@@ -1,12 +1,12 @@
 # Accessing and Modifying Robot Settings
 
-The RoCS Control App settings offer essential functionalities to tailor the robot's behavior and gather critical system information. Let's explore the key features available in the `Connect` and `System Info` tabs:
+The RoCS Control App settings offer essential functionalities to tailor the robot's behavior and gather critical system information. Let's explore the key features available in the `Connection` and `System Info` tabs:
 
-## Connect Tab
+## Connection Tab
 
 ### Connection Status
 
-The `Connect` tab provides insights into the connection status between the RoCS Control App and the robot. It displays the current status, indicating whether the app is connected or not. If the status is `Not connected`, clicking on it navigates you to the Robot Startup workflow. Here, you can efficiently configure the network connection and establish a seamless link between the app and the robot.
+The `Connection` tab provides insights into the connection status between the RoCS Control App and the robot. It displays the current status, indicating whether the app is connected or not. If the status is `Not connected`, clicking on it navigates you to the `Startup Robot` workflow where you can efficiently configure the network connection and establish a seamless link between the app and the robot.
 
 ## System Info Tab
 

diff --git a/docs/demo_app/static/connected.png b/docs/demo_app/static/connected.png
diff --git a/docs/demo_app/static/login-notconnected.png b/docs/demo_app/static/login-notconnected.png
diff --git a/docs/demo_app/static/startup-calibration.png b/docs/demo_app/static/startup-calibration.png
diff --git a/docs/quick_start/about.md b/docs/quick_start/about.md
@@ -1,24 +1,27 @@
-# About RoCS Server Introduction
+# RoCS Server Introduction
 
-The rocs_server covers the entire communication process and capabilities of robot control. For ease of use and installation, we provide 5 .deb packages based on the Ubuntu AMD64 operating system, which will allow you to quickly and efficiently complete the installation and use of the rocs_server, so that you can focus more on manipulating the robot.
+The `rocs_server` covers the entire communication process and capabilities related to robot control. To simplify the installation and utilization, we offer five .deb packages specifically designed for the Ubuntu AMD64 operating system. These packages expedite the installation of the RoCS Server, streamlining your experience with robot control.
 
 ## rocs-lib
 
-`rocs-libs` are the library files that our entire robot operating system relies on. We have packaged them to avoid the tedious process of you needing to download, decompress, and compile them.
+`rocs-libs` are the libraries that the RoCS system relies on. It provides essential features to:
+
+* Conduct rigid body dynamics computations, facilitating precise modeling of the robot's physical movements.
+* Tackle quadratic programming (QP) problems efficiently, enabling the robot's control system to address complex optimization tasks.
+* Perform various linear algebra operations, serving as the mathematical foundation for critical robot functionalities.
 
 ## rocs-svr
 
 The `rocs-svr` essentially serves as the bridge between the upper computer and the lower computer. It handles commands originating from the upper computer, which can be a Control APP user interface or SDK control programs. Its primary function is to process these commands and transmit control instructions to the lower computer using underlying communication protocols. This intricate communication mechanism enables the achievement of precise control over the robot's movements.
 
 ## rocs-wifi
 
-`rocs-wifi` is a crucial component in the RoCS system, responsible for managing and configuring the robot's Wi-Fi connection, including configuring and activating Wi-Fi functions. Through this component, it ensures that you can seamlessly connect to the Wi-Fi network where the robot is located.
+`rocs-wifi` is a crucial component in the RoCS system, responsible for managing and configuring the robot's Wi-Fi connection, including configuring and activating Wi-Fi functionalities. Through this component, it ensures a seamless connection to the Wi-Fi network where the robot is located.
 
 ## rocs-webots
 
-`rocs-webots` is a simulation environment provided by us based on Webots! Perhaps before you access the robot, in order to better familiarize yourself with the operation and use of the robot, we strongly recommend that you first experience it in the Webots simulation environment. The simulation environment accurately reproduces the motion characteristics and structure of the robot, which will be a very important step.
+`rocs-webots` is a simulation environment based on Webots, an open source robot simulation application from Cyberbotics. Prior to interacting directly with the robot, we strongly recommend that you gain familiarity with its operation and usage by first experiencing it within the Webots simulation environment. This simulation environment faithfully replicates the motion characteristics and structure of the robot, making it an essential preliminary step.
 
 ## rocs-control
 
-`rocs-control` is the core part of our robot control program, and we provide a binary file that runs in the '～/RoCS' directory of the robot host. If you need to adjust and modify configuration items, including but not limited to the PID, mass, filtering and other parameters of the robot, you can achieve this by manually modifying the configuration file. This can help you control the robot more accurately.
-
+`rocs-control` is the core component of the RoCS system, and we provide a binary file that operates within the '~/RoCS' directory of the embedded robot computer. If you need to fine-tune and customize configuration settings, which may include PID, mass, filtering, and other parameters of the robot, you can achieve this by manually editing the configuration file. This approach allows for precise control of the robot's behavior.