iiborisov · MazinAL-Hatmi · Nov 1, 2025 · Nov 1, 2025 · Nov 1, 2025 · Nov 1, 2025
diff --git a/SRS/practice_1/Task_1.md b/SRS/practice_1/Task_1.md
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+1. Look in the [table](https://docs.google.com/spreadsheets/d/1MFO6x2WuOzIZvYZm08gwcFw2lOKu-bSqmNkslq-nyiA/edit?usp=sharing) and find yourself:
+
+3. Look in the "Integrators.ipynb" file and use these functions for your task.
+4. Solve analytically the ODE in the form of:
+
+$a \cdot \ddot{x} + b \cdot \dot{x} + c \cdot x = d$
+
+4. From the list take coefficients of your ODE and solve them with three integrators: Explicit/Implicit Euler, Rung-Kutta methods.
+5. Compare results of these methods with analytical solution, dicsuss and conclude your thoughts in the .pdf report.
+6. Name of the report should be "Your_ISU_number_YourName_task1.pdf"
diff --git a/SRS/practice_1/integrators.ipynb b/SRS/practice_1/integrators.ipynb
diff --git a/SRS/practice_1/practice_1.ipynb b/SRS/practice_1/practice_1.ipynb
diff --git a/SRS/practice_1/submissions/373529_RakshinEgor_Task1/report.md b/SRS/practice_1/submissions/373529_RakshinEgor_Task1/report.md
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+
diff --git a/...ractice_1/submissions/508940_Mazin_Al-Hatmi_Task1/508940_Mazin_Mohamed_Al-Hatmi_Task1.pdf b/...ractice_1/submissions/508940_Mazin_Al-Hatmi_Task1/508940_Mazin_Mohamed_Al-Hatmi_Task1.pdf
diff --git a/SRS/practice_1/submissions/508940_Mazin_Al-Hatmi_Task1/report.md b/SRS/practice_1/submissions/508940_Mazin_Al-Hatmi_Task1/report.md
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+
diff --git a/SRS/practice_1/submissions/508940_Mazin_Mohamed_Al-Hatmi_Task1 b/SRS/practice_1/submissions/508940_Mazin_Mohamed_Al-Hatmi_Task1
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+
diff --git a/SRS/practice_1/submissions/readme.md b/SRS/practice_1/submissions/readme.md
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+Name your project as "Your_ISU_Number_YourName_Task1"
diff --git a/SRS/practice_2/Task_2.md b/SRS/practice_2/Task_2.md
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+1. Look in the [table](https://docs.google.com/spreadsheets/d/1cV1CvAwOWxDQwrhasFfoV0_T6r5pmklhSiCanFWS2I4/edit?usp=sharing) and find yourself:
+
+3. Compose the ODE from the mass spring damper system using variants below:
+
+<img src="https://github.com/user-attachments/assets/715d3c7a-7764-497d-b4ca-d71293accd90" 
+     alt="image" 
+     width="400" />
+
+Use method described in ```SRS/lecture_1/lecture_1.pdf```.
+
+3. **Try** to solve analytically the ODE you composed. If you can't solve it, describe the reason and why?
+
+4. Compare results of these methods with analytical solution (if it exists), dicsuss and conclude your thoughts in the .pdf report.
+5. Name of the report should be "Your_ISU_number_YourName_task2.pdf"
diff --git a/SRS/practice_2/practice_2.ipynb b/SRS/practice_2/practice_2.ipynb
diff --git a/SRS/practice_2/submissions/373529_RakshinEgor_Task2/report.md b/SRS/practice_2/submissions/373529_RakshinEgor_Task2/report.md
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+
diff --git a/...2/submissions/508940_Mazin_Mohamed_Al-Hatmi_Task2/508940_Mazin_Mohamed_Al-Hatmi_Task2.pdf b/...2/submissions/508940_Mazin_Mohamed_Al-Hatmi_Task2/508940_Mazin_Mohamed_Al-Hatmi_Task2.pdf
diff --git a/SRS/practice_2/submissions/508940_Mazin_Mohamed_Al-Hatmi_Task2/report.md b/SRS/practice_2/submissions/508940_Mazin_Mohamed_Al-Hatmi_Task2/report.md
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+
diff --git a/SRS/practice_2/submissions/readme.md b/SRS/practice_2/submissions/readme.md
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+Name your project as "Your_ISU_Number_YourName_Task2"
diff --git a/SRS/practice_3/Task_3.md b/SRS/practice_3/Task_3.md
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+1. Look in the [table](https://docs.google.com/spreadsheets/d/18BCbKzIc9hk8lhOOB-tLQWyPb4-KshQQF1fvXsSktPE/edit?usp=sharing) and find yourself:
+
+2. Choose one of the passive mechanisms according to your list and model .xml files.
+
+Variant 1 - tendon connected 2R planar mechanism:
+
+<img src="https://github.com/user-attachments/assets/f1db4951-732f-4c33-9421-71b5ba5febb6"
+     alt="image" 
+     width="800" />
+
+Variant 2 - Optimus' knee closed-chain mechanism:
+
+<img src="https://github.com/user-attachments/assets/d8407006-353e-45e7-a625-5599905131dd" 
+     alt="image" 
+     width="400" />
+
+3. Write python script with ```model```, ```data``` and ```viewer``` methods. Run the simulation.
+4. Examples of .xml models are in the "Examples" folder.
diff --git a/SRS/practice_3/examples/4bar.ipynb b/SRS/practice_3/examples/4bar.ipynb
diff --git a/SRS/practice_3/examples/4bar.xml b/SRS/practice_3/examples/4bar.xml
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+    <?xml version='1.0' encoding='UTF-8'?>
+<mujoco>
+
+    <option timestep="1e-4"/>
+    <option gravity="0 0 -9.8"/>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.5 0.5 0.5" width="265" height="256"/>
+        <texture name="grid" type="2d" builtin="checker" rgb1="0.1 0.1 0.1" rgb2="0.6 0.6 0.6" width="300" height="300"/>
+        <material name="grid" texture="grid" texrepeat="10 10" reflectance="0.2"/>
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 10"/>
+        <geom type="plane" size="0.5 0.5 0.1" material="grid"/>
+
+        <camera name="side view" pos="0.1 -1.5 1.0" euler="90 0 0" fovy="60"/>
+        <camera name="upper view" pos="0 0 1.5" euler="0 0 0"/>
+
+        <body name="ABC1P" pos="0 0 1.5" euler="90 0 0">         
+
+            <joint name="A" type="hinge" axis="0 0 1" stiffness="0" springref="0" damping="0"/>
+            <geom name="point A" type="cylinder" pos="0 0 0" size="0.02 0.02" rgba="0.89 0.14 0.16 0.5" euler="0 0 0" contype="0"/>
+            <geom name="link AB" type="cylinder" pos="0 -0.075 0" size="0.015 0.075" rgba="0.21 0.32 0.82 0.5" euler="90 0 0" contype="0"/>
+
+            <body name="BC1P" pos="0 -0.15 0" euler="0 0 0">
+
+                <joint name="B" type="hinge" axis="0 0 1" stiffness="0" springref="0" damping="0.1"/>
+                <geom name="point B" type="cylinder" pos="0 0 0" size="0.02 0.02" rgba="0.89 0.14 0.16 0.5" euler="0 0 0" contype="0"/>
+                <geom name="link BC" type="cylinder" pos="0 -0.1875 0" size="0.015 0.1875" rgba="0.21 0.32 0.82 0.5" euler="90 0 0" contype="0"/>
+                <site name="sC1" size="0.01" pos="0 -0.375 0"/>
+
+                <body name="CP" pos="0 -0.375 0" euler="0 0 0">
+
+                    <geom name="point C1" type="cylinder" pos="0 0 0" size="0.02 0.02" rgba="0.89 0.14 0.16 0.5" euler="0 0 0" contype="0"/>
+                    <geom name="link CP" type="cylinder" pos="0 -0.1875 0" size="0.015 0.1875" rgba="0.21 0.32 0.82 0.5" euler="90 0 0" contype="0"/>
+                    <site name="sP" size="0.01" pos="0 -0.375 0"/>
+
+                </body>
+
+            </body>
+
+        </body>
+
+        <body name="DC2" pos="0.3 0 1.5" euler="90 0 0">  
+
+            <joint name="D" type="hinge" axis="0 0 1" stiffness="0" springref="0" damping="0.1"/>
+            <geom name="point D" type="cylinder" pos="0 0 0" size="0.02 0.02" rgba="0.89 0.14 0.16 0.5" euler="0 0 0" contype="0"/>
+            <geom name="link DC" type="cylinder" pos="0 -0.1875 0" size="0.015 0.1875" rgba="0.21 0.32 0.82 0.5" euler="90 0 0" contype="0"/>
+            <site name="sC2" size="0.01" pos="0 -0.375 0"/>
+
+        </body>
+
+    </worldbody>
+
+    <equality>
+        <connect site1="sC1" site2="sC2"/>
+    </equality>
+
+    <actuator>
+        <position name="A" joint="A"/>
+    </actuator>
+
+    <sensor>
+        <framepos objtype="site" objname="sP"/>
+    </sensor>
+
+
+</mujoco>
diff --git a/SRS/practice_3/practice_3.ipynb b/SRS/practice_3/practice_3.ipynb
diff --git a/SRS/practice_3/submissions/373529_RakshinEgor_Task3/report.md b/SRS/practice_3/submissions/373529_RakshinEgor_Task3/report.md
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+
diff --git a/SRS/practice_3/submissions/readme.md b/SRS/practice_3/submissions/readme.md
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+Name your project as "Your_ISU_Number_YourName_Task3"
diff --git a/SRS/practice_4/Task_4.md b/SRS/practice_4/Task_4.md
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+1. To the model you have created in the previous task, you need to add actuators. For Optimus mechanism there is one actuator (q1), for tendon mechanism there are two actuators (q1 and q2).
+2. Modify the .xml file by adding ```<actuaor>``` and ```<sensor>``` containers (look at the examples in the previous task).
+3. Define control effort via PD regulator. The $q^{des} = AMP \cdot sin(FREQ \cdot t) + BIAS$. Look in the [table](https://docs.google.com/spreadsheets/d/1ArDc0uXQGEbSWpaOhKvYPi4TjOWBZ9PoTXz1Icymx1w/edit?usp=sharing) for sine wave parameters. If the conrol sequence goes beyond workspace of the mechanism, decrease the amplitude and tune bias only if needed.
diff --git a/SRS/practice_4/practice_4.ipynb b/SRS/practice_4/practice_4.ipynb
diff --git a/SRS/practice_4/submissions/373529_RakshinEgor_Task4/report.md b/SRS/practice_4/submissions/373529_RakshinEgor_Task4/report.md
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+
diff --git a/SRS/practice_4/submissions/readme.md b/SRS/practice_4/submissions/readme.md
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+Name your project as "Your_ISU_Number_YourName_Task4"
diff --git a/SRS/project/ATP(ЦЗП)/373529_RakshinEgor_157137_BorisovIvan_ATP/report.pdf b/SRS/project/ATP(ЦЗП)/373529_RakshinEgor_157137_BorisovIvan_ATP/report.pdf
diff --git a/SRS/project/ATP(ЦЗП)/readme.md b/SRS/project/ATP(ЦЗП)/readme.md
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+
diff --git a/SRS/project/project.ipynb b/SRS/project/project.ipynb
diff --git a/SRS/project/project/373529_RakshinEgor_157137_BorisovIvan_project/report.md b/SRS/project/project/373529_RakshinEgor_157137_BorisovIvan_project/report.md
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+
diff --git a/SRS/project/project/readme.md b/SRS/project/project/readme.md
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+
Original file line number	Diff line number	Diff line change
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		Name your project as "Your_ISU_Number_YourName_Task1"