Assignment 2

Exercises are taken from the textbook chapters. Maximum score for this problem set is 43 points and the due date is Wednesday, February 21, 2024 (11:59 pm).

• Exercise 7.4: (a) 2 points, (b) 4 points, (c) 3 points.
• Exercise 7.5: (a) 5 points, (b) 3 points, (c) 4 points.
• Exercise 7.6: 6 points.
• Exercise 7.8: (a) 3 points, (b) 3 points, (c) 2 point, (d) 3 points.
• Exercise 8.1: 4 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.

Exercises 7.5(c), 7.6, and 8.1 are coding problems. You should work completely in Deepnote. Once you are satisfied with your work, download the final version of the notebook and upload it to Gradescope (please only submit the .ipynb notebooks and do not compress them into a zip file). 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 that will be provided in Piazza.

Your submission should include:

• Problem Set 2, Written Submission. A scanned pdf of your answers to the written questions.
• Problem Set 2, Notebook Submission. The final version of your Exercise 7.5 notebook minimum_time.ipynb, the final version of your Exercise 7.6 notebook lp_dp.ipynb, and the final version of your Exercise 8.1 notebook drake_diagrams.ipynb. Please double check that the notebooks you are submitting have exactly this name and extension.

In our testing, Gradescope will give you a grade, and you can resubmit as many times as you like before the deadline.