AQUARM SDK

The AQUARM SDK provides C++ and Python interfaces for robot kinematics, trajectory generation, and KCAN communication.

Components

Component	Purpose
Robot model	Load a root-to-tip chain from a URDF with revolute, continuous, and fixed joints
Kinematics	Compute forward kinematics, Jacobians, and damped least-squares inverse kinematics
Trajectory	Generate quintic joint trajectories between start and goal configurations
KCAN	Connect to the controller, read joint feedback, and send joint commands
MuJoCo	Simulate the arm and gripper using the bundled MJCF model

The C++ API is exposed through kalman_ik.hpp and kcan_sdk_user.h. Python examples use the bundled kalman_ik_py and kcan_sdk_user_py modules.

Command Flow

The supplied IK examples control one arm through a direct KCAN connection:

Target pose + URDF model
        ↓
Current joint feedback → IK solution
        ↓
Quintic joint trajectory
        ↓
KCAN SDK → Controller

The examples connect to 192.168.1.9 using ports 20000 and 20001, request position mode, and send joint targets approximately every 5 ms. Adjust the connection settings in the example source to match your controller.

Positions are expressed in meters and joint angles in radians. The twist/Jacobian component order is [linear; angular].

Robot Descriptions

The AQUARM Description repository contains URDF/Xacro models, meshes, RViz configuration, and ROS 2 viewers. The SDK examples load their bundled model from resources/urdf/aquarm_origin_with_gripper.urdf.

Getting Started

• SDK Guide: requirements, build commands, and example code.
• ROS: description package installation and RViz visualization.
• Download: links to both repositories.