Fequently Asked Questions¶
How to set the path of the model folder?¶
The demos or examples that we use in Kautham need that the model of the robots and/or the obstacles that appear in the scene are prepared and ready so we can successfully open those demos or examples. Either if you have installed Kautham or you have built it from sources, you should be able to find a demos folder which contains some folders with demos and one folder called models.
In order to set the path of the models folder in Kautham we have to click on Actions > Default Path. We will see a new window like this one:
We click on the Add button and then a window opens so we can browse and find the models folder (if you installed Kautham (contrary to building it from sources) the models folder will be in the path /usr/share/kautham/demos). Select the models folder and click the Open button (select the models folder, but do not open it).
Now you can see the path on the window for choosing the directories:
This procedure can be repeated to add other folders containing robots and obstacle models.
Which is the difference between controls and joint values?¶
The controls are used to move the joints and therefore determine which are actually used and how (one control can move a single joint or several joints at the same time; also, one joint may have no associated control and thus be fixed).
Where are they defined?
Contols are described in a control file usually located at a control folder on the corresponding demo folder. The control file used is defined in the Kautham problem file.
Joints (and their limits) are defined in the URDF file describing the robot (located at the models folder inside the demos folder). The URDF file used is defined in the Kautham problem file.
Which are their ranges?
Joint values range between the limits defined in the URDF file.
Controls range between 0 and 1.
Where are they shown?
Joint values can be seen at the right of the GUI.
Contol values can be seen at the left of the GUI (in the RobContr panel).
The detailed relation between controls and joint values is explained in Moving the robot joints.