BeltManipulator.jl analysis source

Project notes

Use one matched Julia model first

Project.toml identifies version 0.1.0 and dependencies including RigidBodyDynamics, ForwardDiff, MeshCat and plotting libraries. The README describes package-manager installation or a local development checkout. Select and inspect that checkout/environment rather than assuming a bare package name or the latest registry state reproduces this source. No Julia environment was resolved or compiled here. [1] [3]

The illustrated route parses shivaa_manipulator_local_copy.urdf into RBDMechanism, initially using a diagonal joint-space structure matrix, then constructs an ODEModel and a trajectory problem. The example's 0.001-second timestep and 0.8-second horizon are selected research parameters, not measured control timing. Match the model, mapping and boundary conditions before comparing trajectories. [1]

The later README snippets refer to additional model/arm/trajectory variables and change mappings and weights. They should be read as staged research examples, not an independently complete runnable script. The README separately documents running src/example.jl to produce power_comparison.png; inspect that entry point for the missing definitions. That script was not supplied in the selected review packet or executed, so this is a next inspection route, not a verified runnable result. The inspected ilqr.jl contains optimization implementation to study with those definitions; no convergence, power comparison, visualization or numerical result was reproduced here. [1] [5]

The root notice is BSD-3-Clause; asset and dependency provenance and applicable terms were not established here and require checking before reuse. No physical manipulator, belt transmission, fit, actuator command or manufacturing design was validated. [2]