476937_NaghamSleman_Task_2

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:
+
+$a \cdot \ddot{x} + b \cdot \dot{x} + c \cdot x = d$
+
+5. From the list take coefficients of your ODE and solve them with three integrators: Explicit/Implicit Euler, Rung-Kutta methods.
+6. Compare results of these methods with analytical solution, dicsuss and conclude your thoughts in the .pdf report.
+7. Name of the report should be "Your_ISU_number_YourName_task1.pdf"

SRS/practice_1/submissions/373529_RakshinEgor_Task1/report.md

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+

SRS/practice_1/submissions/476937_NaghamSleman_Task1/report.md

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+

SRS/practice_1/submissions/readme.md

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+Name your project as "Your_ISU_Number_YourName_Task1"

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```.
+
+4. **Try** to solve analytically the ODE you composed. If you can't solve it, describe the reason and why?
+
+5. Compare results of these methods with analytical solution (if it exists), dicsuss and conclude your thoughts in the .pdf report.
+6. Name of the report should be "Your_ISU_number_YourName_task2.pdf"

SRS/practice_2/submissions/373529_RakshinEgor_Task2/report.md

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+

SRS/practice_2/submissions/476937_NaghamSleman_task2/readme.md

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+

SRS/practice_2/submissions/readme.md

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+Name your project as "Your_ISU_Number_YourName_Task2"

SRS/practice_3/476937_NaghamSleman_task3/import mujoco2.py

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+import mujoco
+import mujoco.viewer
+
+# ----------------------------------------------------
+# Load the XML model
+# ----------------------------------------------------
+model_path = r"C:\Users\Nagham\Documents\mujoco_models\model2.xml"
+
+model = mujoco.MjModel.from_xml_path(model_path)
+data = mujoco.MjData(model)
+
+# ----------------------------------------------------
+# Launch the passive viewer
+# ----------------------------------------------------
+viewer = mujoco.viewer.launch_passive(model, data)
+
+# ----------------------------------------------------
+# Configure the camera
+# ----------------------------------------------------
+viewer.cam.lookat[:] = [0.07, 0, 0]   # Look at the middle of the arm
+viewer.cam.distance = 0.6             # Move camera further
+viewer.cam.elevation = -10            # Slight tilt
+viewer.cam.azimuth = 90               # Side view
+
+print("Viewer is running. Press Enter to close...")
+
+# ----------------------------------------------------
+# Wait for user input and close viewer
+# ----------------------------------------------------
+input()
+viewer.close()

SRS/practice_3/476937_NaghamSleman_task3/import time1.py

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+import time
+import mujoco
+import mujoco.viewer
+import matplotlib.pyplot as plt
+
+# Load the MuJoCo model
+model_path = r"C:\Users\Nagham\Documents\mujoco_models\model2.xml"
+model = mujoco.MjModel.from_xml_path(model_path)
+data_ = mujoco.MjData(model)
+
+# Storage for recording joint motion
+joint1_positions = []
+joint2_positions = []
+
+# Get the joint indices by name
+elbow_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, 'elbow')
+wrist_id = mujoco.mj_name2id(model, mujoco.mjtObj.mjOBJ_JOINT, 'wrist')
+
+elbow_index = model.jnt_qposadr[elbow_id]
+wrist_index = model.jnt_qposadr[wrist_id]
+
+# Apply initial conditions to trigger motion
+data_.qpos[elbow_index] = 0.2
+data_.qpos[wrist_index] = -0.1
+
+# Run forward pass before starting the simulation
+mujoco.mj_forward(model, data_)
+
+# Launch viewer in passive mode
+with mujoco.viewer.launch_passive(model, data_) as viewer:
+    start = time.time()
+
+    while viewer.is_running() and time.time() - start < 15:
+        step_start = time.time()
+
+        # Run one physics step
+        mujoco.mj_step(model, data_)
+        viewer.sync()
+
+        # Record joint angles
+        joint1_positions.append(data_.qpos[elbow_index])
+        joint2_positions.append(data_.qpos[wrist_index])
+
+        # Maintain stable real-time stepping
+        dt = model.opt.timestep - (time.time() - step_start)
+        if dt > 0:
+            time.sleep(dt)
+
+# Plot joint trajectories
+plt.figure(figsize=(12,5))
+plt.plot(joint1_positions, label="Joint 1 (Elbow)")
+plt.plot(joint2_positions, label="Joint 2 (Wrist)")
+plt.xlabel("Time Step")
+plt.ylabel("Joint Position (rad)")
+plt.title("Joint Positions Over Time During Passive Simulation")
+plt.grid(True)
+plt.legend()
+plt.show()

SRS/practice_3/476937_NaghamSleman_task3/model2.xml

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+<mujoco model="RR_Mechanism">
+
+    <option gravity="0 0 0" integrator="Euler"/>
+
+    <statistic center="0 0 0" extent="0.2"/>
+
+    <visual>
+        <rgba haze=".8 .3 .3 1"/>
+    </visual>
+
+    <default>
+        <joint axis="0 1 0" damping="0.000005"/>
+        <geom type="capsule"/>
+    </default>
+
+    <asset>
+        <texture name="texplane" type="2d" builtin="checker"
+                 rgb1=".7 .7 .25" rgb2=".25 .7 .7"
+                 width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+        <material name="matplane" reflectance="0" texture="texplane"
+                  texrepeat="1 1" texuniform="true"/>
+    </asset>
+
+    <worldbody>
+
+        <light pos="0 0 0.25" />
+        <light pos="0 0 3" dir="0 0 -1" directional="false" />
+
+        <geom name="floor" pos="0 0 -0.14" size="0 0 1"
+              type="plane" material="matplane" conaffinity="15" condim="3"/>
+
+        <!-- LEFT SIDE -->
+        <body pos="0 0 0">
+
+            <geom name="left_bound" type="box" size="0.002 0.06 0.06"
+                  rgba="0.1 0.1 0.7 1" pos="0 0 0"/>
+
+            <geom fromto="0 0 0 0.094 0 0"
+                  rgba=".5 .5 .1 .5" size=".002"
+                  contype="0" conaffinity="0"/>
+
+            <site name="s1" pos="0.005 0 0.035" size=".002" rgba="1 1 0 1"/>
+            <site name="s2" pos="0.005 0 -0.035" size=".002" rgba="1 1 0 1"/>
+
+            <!-- FIRST JOINT (ELBOW) -->
+            <body pos="0.094 0 0">
+
+                <joint name="elbow"/>
+
+                <geom fromto="0 0 0 0.063 0 0"
+                      rgba=".5 .5 .1 .5" size=".002"/>
+
+                <geom name="Pulley" type="cylinder"
+                      fromto="0 .007 0 0 -.007 0"
+                      size=".014" rgba=".1 .1 .75 .85"/>
+
+                <site name="s3" pos="0 0 0.015" size=".002" rgba="1 1 0 1"/>
+                <site name="s4" pos="0 0 -0.015" size=".002" rgba="1 1 0 1"/>
+
+                <!-- SECOND JOINT (WRIST) -->
+                <body pos="0.063 0 0">
+
+                    <joint name="wrist"/>
+
+                    <geom fromto="0 0 0 0.088 0 0"
+                          rgba=".5 .5 .1 .5" size=".002"/>
+
+                    <geom name="Pulley2" type="cylinder"
+                          fromto="0 .01 0 0 -.01 0"
+                          size=".02" rgba=".1 .1 .75 .85"/>
+
+                    <site name="s5" pos="0 0 0.021" size=".002" rgba="1 1 0 1"/>
+                    <site name="s6" pos="0 0 -0.021" size=".002" rgba="1 1 0 1"/>
+                    <site name="s7" pos="0.088 0 0.035" size=".002" rgba="1 1 0 1"/>
+                    <site name="s8" pos="0.088 0 -0.035" size=".002" rgba="1 1 0 1"/>
+
+                    <!-- RIGHT SIDE -->
+                    <body>
+                        <geom name="right_bound" type="box"
+                              size="0.002 0.055 0.055"
+                              rgba="0.1 0.1 0.7 1"
+                              pos="0.088 0 0"/>
+                    </body>
+
+                </body>
+            </body>
+        </body>
+    </worldbody>
+
+    <!-- TENDONS -->
+    <tendon>
+
+        <!-- RED SPATIAL TENDON -->
+        <spatial stiffness="10" rgba="1 0 0 1" width="0.0015">
+            <site site="s1"/>
+            <geom geom="Pulley" sidesite="s3"/>
+            <site site="s3"/>
+            <geom geom="Pulley2" sidesite="s6"/>
+            <site site="s8"/>
+        </spatial>
+
+        <!-- GREEN SPATIAL TENDON -->
+        <spatial stiffness="10" rgba="0 1 0 1" width="0.0015">
+            <site site="s2"/>
+            <geom geom="Pulley" sidesite="s4"/>
+            <site site="s4"/>
+            <geom geom="Pulley2" sidesite="s5"/>
+            <site site="s7"/>
+        </spatial>
+
+    </tendon>
+
+</mujoco>

SRS/practice_3/476937_NaghamSleman_task3/readme.md

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+

SRS/practice_4/476937_NaghamSleman_Task4/readme.md

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+