UbiquityRobotics · Paveljolak · Nov 26, 2025 · Oct 13, 2025 · Oct 14, 2025 · Oct 14, 2025
diff --git a/docs/_static/connecting/SSH_outcome.jpg b/docs/_static/connecting/SSH_outcome.jpg
diff --git a/docs/_static/connecting/SSH_outcome.png b/docs/_static/connecting/SSH_outcome.png
diff --git a/docs/_static/connecting/SSH_url.jpg b/docs/_static/connecting/SSH_url.jpg
diff --git a/docs/_static/connecting/SSH_url.png b/docs/_static/connecting/SSH_url.png
diff --git a/docs/_static/custom.css b/docs/_static/custom.css
@@ -53,4 +53,52 @@ pre,
     /* horizontal scroll if code is long */
     white-space: pre-wrap;
     /* optional: wrap long lines */
+}
+
+/* Logo - ensures the logo to show nicely in sidebar */
+.wy-side-nav-search .logo,
+.wy-side-nav-search>a:first-child {
+    display: block;
+    text-align: center;
+}
+
+/* Version Controller - makes floating version controller on the bottom right side of the screen. */
+.rst-versions {
+    position: fixed !important;
+    bottom: 10px;
+    left: auto !important;
+    right: 10px;
+    width: 200px;
+    height: auto;
+    display: inline-block !important;
+    background: #2c2c2c;
+    z-index: 9999;
+}
+
+.rst-current-version {
+    color: #fff;
+    cursor: pointer;
+    display: block;
+}
+
+.rst-other-versions {
+    display: none;
+    position: absolute;
+    bottom: 100%;
+    right: 0;
+    background: #333;
+}
+
+.rst-other-versions a {
+    color: #ddd;
+    text-decoration: none;
+    display: block;
+}
+
+.rst-other-versions a:hover {
+    color: #fff;
+}
+
+.wy-nav-side {
+    padding-bottom: 0 !important;
 }
diff --git a/docs/_static/custom.js b/docs/_static/custom.js
@@ -0,0 +1,18 @@
+// Adding logic for button on version controller to work:
+document.addEventListener('DOMContentLoaded', function () {
+    const current = document.querySelector('.rst-current-version');
+    const others = document.querySelector('.rst-other-versions');
+
+    if (current && others) {
+        current.addEventListener('click', function (e) {
+            e.stopPropagation();
+            others.style.display = (others.style.display === 'block') ? 'none' : 'block';
+        });
+
+        document.addEventListener('click', function () {
+            others.style.display = 'none';
+        });
+    }
+});
+
+
diff --git a/docs/_static/driving/teleop/enable_MCB.jpg b/docs/_static/driving/teleop/enable_MCB.jpg
diff --git a/docs/_static/driving/teleop/restart_MCB.jpg b/docs/_static/driving/teleop/restart_MCB.jpg
diff --git a/docs/_static/logos/UbiquityRobotics_Logo_Full_White.png b/docs/_static/logos/UbiquityRobotics_Logo_Full_White.png
diff --git a/docs/conf.py b/docs/conf.py
@@ -36,10 +36,14 @@
 html_theme = 'sphinx_rtd_theme'
 html_static_path = ['_static']
 
+html_logo = "_static/logos/UbiquityRobotics_Logo_Full_White.png"
+
 html_css_files = [
     'custom.css'
 ]
 
+html_js_files = ['custom.js']
+
 # -- RTD lower-left menu setup -----------------------------------------------
 try:
     html_context

diff --git a/docs/driving/connecting.rst b/docs/driving/connecting.rst
@@ -1,6 +1,12 @@
 Connecting to the Robot
 =======================
 
+.. important::
+
+    This page assumes that you are using one of our **newest generation robots**, the **Magni Gen 6**.
+
+    For information about **older robot generations or images**, please refer to our `Legacy Documentation <https://learn.ubiquityrobotics.com/noetic_quick_start_connecting>`_.
+
 Magni 6 robots broadcast their own Wi-Fi network by default.
 You can connect via this Wi-Fi or integrate the robot into your local network.
 
@@ -53,17 +59,17 @@ Option 1: Connect via Robot's Wi-Fi
 
     .. code-block:: bash
 
-        ssh ubuntu@192.168.4.1
+        ssh ubuntu@192.168.0.1
 
     .. important:: 
 
-        The IP ``192.168.4.1`` is static and is valid for all of the robots.
+        The IP ``192.168.0.1`` is static and is valid for all of the robots.
 
         Meaning that for every robot, when the robot emits its own Wi-Fi you can SSH through this IP.
 
 4. Enter the SSH password when prompted: **ubuntu**. Note that the password will not be visible while typing.
 
-.. image:: /_static/connecting/SSH_url.jpg
+.. image:: /_static/connecting/SSH_url.png
     :alt: SSH-ing to the robot through Robot's Wi-Fi
     :width: 400px
     :align: center
@@ -74,7 +80,7 @@ You are now connected directly to the robot.
 
 .. TODO: Here you can add the outcome of the ssh of the robot, do the ls command or something inside the robot.
 
-.. image:: /_static/connecting/SSH_outcome.jpg
+.. image:: /_static/connecting/SSH_outcome.png
     :alt: The outcome of the SSH to the robot
     :width: 800px
     :align: center

diff --git a/docs/driving/teleop.rst b/docs/driving/teleop.rst
@@ -7,6 +7,16 @@ To drive the robot using the terminal you must fulfill the following requirement
 2. Open one terminal session that is connected to the robot (via SSH), check :doc:`./connecting` for details.
 3. Wait for the robot to activate the MCB, this will lock the robot wheels, and you will not be able to manually push the robot anymore.
 
+.. note:: 
+
+    If the robot's wheels don't lock automatically, manually lock them by pressing the button on the Motor Control Board (MCB).
+    It's the button closest to the wire connector.
+
+    .. image:: /_static/driving/teleop/enable_MCB.jpg
+        :alt: Enable the MCB button
+        :width: 400px
+        :align: center
+
 .. TODO: Add video for this. 
 
 .. **Coming soon:** step-by-step video tutorial.
@@ -32,9 +42,22 @@ To drive the robot using the terminal you must fulfill the following requirement
 ..     :width: 400px
 ..     :align: center
 
-
 5. Focus the terminal and follow the teleop instructions to drive the robot. 
 
+.. note:: 
+
+    If the wheels are locked but the robot does not respond to teleoperation commands, restart the MCB by pressing the middle button.
+    After that you can try driving the robot with teleop again.
+
+    .. image:: /_static/driving/teleop/restart_MCB.jpg
+        :alt: Restart the MCB button
+        :width: 400px
+        :align: center
+
+    |
+
+    If the wheels fail to lock afterward, repeat the manual wheel-locking procedure above.
+
 ..  TODO: Video of driving the robot. Once it is done, uncomment the line bellow and add the video.
 
 .. You can follow the next video for exact step-by-step guide of driving the robot through Teleop: 

diff --git a/docs/index.rst b/docs/index.rst
@@ -5,12 +5,19 @@ Welcome to the Ubiquity Robotics Magni Gen 6 documentation!
 This  guide will help you get started with your robot, from unboxing to driving, and provide resources you need to troubleshoot common issues.
 Learn how to connect, operate, and interact with our robots, all in a step-by-step, beginner-friendly format.
 
+.. important::
+
+   This documentation applies **only** to Magni Gen 6 robots running **ROS 2 Jazzy**.
+
+   For information about earlier robot generations, software images, or legacy systems, please refer to our `Legacy Documentation <https://learn.ubiquityrobotics.com>`_.
+
 .. note:: 
 
     This documentation is designed for beginners.
 
     Expect clear, friendly instructions that guide you from unboxing your robot to running it smoothly.
 
+
 Sections
 ########
 
@@ -23,7 +30,7 @@ Sections
 
 |  
 
-- `Unboxing <unboxing_>`_: Step-by-step instructions for unboxing your robot. Learn how to safely unpack it, check for any damages, verify all components are included, install the batteries and power on the robot.
+- `Unboxing <unboxing_>`_: Step-by-step instructions for unboxing your robot. Learn how to safely unpack it, check for any damage, verify all components are included, install the batteries and power on the robot.
 
 |  
 

diff --git a/docs/models/magni6_mini.rst b/docs/models/magni6_mini.rst
@@ -95,8 +95,9 @@ To explore the possibilites and capabilities of the Magni 6 Mini, try the follow
 
 .. important:: 
 
-    Our robot solutions are designed to be safe for use on a table. 
-    However, we strongly recommend testing in a safe, obstacle-free environment to ensure smooth operation.
+    While our robots are designed to be safe for use on a table,
+    we strongly recommend testing on a safe, obstacle-free surface, 
+    like a floor or a raised table with bumpers.
 
 .. warning::
 

diff --git a/docs/requirements/batteries.rst b/docs/requirements/batteries.rst
@@ -1,6 +1,13 @@
 Batteries
 =========
 
+.. important::
+
+    This page provides battery information for our **latest generation**, the **Magni Gen 6 robots**.
+
+    Some details may also apply to earlier models, however for comprehensive information on these older generations,
+    please refer to our `Legacy Documentation <https://learn.ubiquityrobotics.com/noetic_overview_batteries>`_.
+
 Shipping
 ########
 
@@ -123,6 +130,9 @@ Size(LxWxH) approx.   151x98x95mm
 Weight (approx.)      3.8-4.0kg
 ====================  =================
 
+
+.. _charging_guide:
+
 Charging
 ########
 

diff --git a/docs/requirements/images.rst b/docs/requirements/images.rst
@@ -13,18 +13,26 @@ Each image is labeled according to its status:
     If you encounter issues with an older image, we recommend switching to a **new** or **latest** image.
     For further assistance, contact: `Ubiquity Robotics support <support@ubiquityrobotics.com>`_.
 
+.. important::
+
+    This page includes the images for **Magni Gen 6 and newer robots**, which are built on **ROS 2**.
+
+    For older images or a complete list of **ROS** images, please see the `Legacy Documentation <https://learn.ubiquityrobotics.com/noetic_pi_image_downloads>`_.
+
+
 Raspberry Pi Images
 ###################
 
 ================ ============================
-**Download**     `2025-09-25-ubiquity-base-jazzy <https://ubiquity-pi-image.sfo2.cdn.digitaloceanspaces.com/ros2_20250925_6476.img.xz>`_
+**Download**     `2025-10-24-ubiquity-base-jazzy <https://ubiquity-pi-image.sfo2.cdn.digitaloceanspaces.com/ros2-base-image_20251024_7366.img.xz>`_
 ================ ============================
 **OS Version**   Ubuntu 24.04.2 LTS 
 **ROS 2**        Jazzy
 **Architecture** aarch64                             
 **SHA256 Sum**   9fadc8d4265fdc4082a916dacc1b09b0fda05acac605387a49017a1777046101
 **Status**       **Latest**
-**Notes**        Headless (no desktop)
+**Notes**        - Headless (no desktop)
+                 - Occasionally, manually restarting the MCB on the robot to enable teleoperation is required.
 **Changelog**    Initial version for ROS2 Jazzy
 ================ ============================
 

diff --git a/docs/requirements/simulation.rst b/docs/requirements/simulation.rst
@@ -29,6 +29,7 @@ Physical Characteristics
 
    Information about Magni 5 is limited. 
    For additional details, please contact: `Ubiquity Robotics support <support@ubiquityrobotics.com>`_. 
+   You can also refer to our legacy documentation `Legacy Documentation <https://learn.ubiquityrobotics.com>`_.
 
 
 .. table:: Physical Specifications

diff --git a/docs/requirements/waiting_for_robot.rst b/docs/requirements/waiting_for_robot.rst
@@ -1,7 +1,7 @@
 Waiting for Your Robot
 ======================
 
-This section covers what you'll need to prepare before your Ubiquity Robot arrives. 
+This section covers what you'll need to prepare before your Ubiquity Gen 6 Robot arrives. 
 
 Requirements
 ############

diff --git a/docs/requirements/workstation.rst b/docs/requirements/workstation.rst
@@ -1,6 +1,14 @@
 Setting up your Workstation
 ===========================
 
+
+.. important::
+
+    This documentation assumes you are setting up a workstation for our **newest generation**, the **Magni Gen 6 robots**, built on **ROS 2**.
+
+    To set up a workstation for **older generation robots** built on **ROS**, please refer to our `Legacy Documentation <https://learn.ubiquityrobotics.com/noetic_quick_start_workstation>`_.
+
+
 What is a Workstation?
 ######################