Assignment 3

Important Note: Exercise 3.2 has now been updated. If you notebook was downloaded prior to 11pm on Thursday 2/23, please download and work on the new one as substantial changes have been made.

Exercises are taken from the textbook chapters. Maximum score for this problem set is 36 points and the due date is Wednesday, March 01, 2023.

• Exercise 7.1: (a) 3 points, (b) 1 points, and (c) 4 points
• Exercise 3.2: 12 points.
• Exercise 3.3: (a1) 3 points, (a2) 4 points, (a3) 2 points, and (b) 6 points
• Feedback survey: 1 point. After submitting the survey, you will receive a "keyword." Write the keyword at the end of your written submission, so that we can verify who completed the survey. Do not worry, the survey is anonymous!

Exercise 3.2 is a coding problem. You can work directly in Deepnote, and once you are satisfied with your work, download the final version of the notebook and upload it to Gradescope. (Please use Gradescope to tag the solutions in your pdf file with the corresponding exercise number, it makes grading much easier!)

If you do not have a Gradescope account, you will be required to create one. Please use your @mit.edu email to register. Then look for class 6.8210 Underactuated Robotics, and join using the access code we provided in Piazza.

You will have to make two submissions for this problem set:

• Problem Set 3, Written Submission. A pdf of your answers to the written questions. This can be either LaTeX, Word, or hand written (in the latter case, be sure it is legible!).
• Problem Set 3, Notebook Submission. The final version of your Exercise 3.2 notebook cartpoles_urdf.ipynb. These can be downloaded from Deepnote after you finish to work on them. Please double check that the notebooks you are submitting have exactly this name and extension.

In our testing, Gradescope will give you a grade within approximately 30 seconds. You can resubmit as many times as you like before the deadline.

Note that, to fasten your workflow, we added an autograding cell directly at the end of each notebook. However, this does not replace Gradescope: you still need to complete the "Notebook Submission" when submitting your assignment.