diff --git a/lecture_03/assignment_02/MingYang and WenJun.py b/lecture_03/assignment_02/MingYang and WenJun.py
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+++ b/lecture_03/assignment_02/MingYang and WenJun.py	
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+"""Assignment 02: Build your own robot model
+"""
+from compas.artists import Artist
+from compas.datastructures import Mesh
+from compas.geometry import Circle
+from compas.geometry import Cylinder
+from compas.geometry import Frame
+from compas.geometry import Plane
+from compas.geometry import Translation
+from compas.robots import Configuration
+from compas.robots import Joint
+from compas.robots import RobotModel
+import math
+
+
+# create cylinder in yz plane
+radius, length = 0.3, 5
+cylinder = Cylinder(Circle(Plane([0, 0, 0], [1, 0, 0]), radius), length)
+cylinder.transform(Translation.from_vector([length / 2.0, 0, 0]))
+
+# create robot model
+model = RobotModel("robot", links=[], joints=[])
+
+# link meshes (calling Mesh.from_shape effectively creates a copy of the shape)
+mesh = Mesh.from_shape(cylinder)
+
+# n refines hilbert num
+
+def config_data(n):
+    hilbert_seq = "a"
+    link_num = int(math.pow(4,n)-1)
+    for _ in range(n):
+        new_seq = ""
+        for char in hilbert_seq:
+            if char == "a":
+                new_seq += "-bF+aFa+Fb-"
+            elif char == "b":
+                new_seq += "+aF-bFb-Fa+"
+            else:
+                new_seq += char
+        hilbert_seq = new_seq
+
+    fix = ''
+    for i,char in enumerate(hilbert_seq):
+        if char != 'a' and char != 'b' :
+            fix +=char
+
+    fix = fix.replace('+-', '')
+    fix = fix.replace('-+', '')
+
+    final = ''
+    for k,char in enumerate(fix):
+        if char == "F":
+            if k == 0:
+                final+='0'
+            else:
+                former = fix[k-1]
+                if former == "F":
+                    final+='0'
+        else:
+            final+=char
+
+    return final
+
+# It takes forever if n>5
+data = config_data(3)
+
+# add links
+link0 = model.add_link("world")
+link_list = [link0]
+for i in range(1,len(data)+1):
+    link = model.add_link("link"+ str(i), visual_mesh=mesh, visual_color=(0,1 - 1/len(data)*i,1/len(data)*i))
+    link_list.append(link)
+
+# add joints between the links
+axis = (0, 0, 1)
+
+origin = Frame.worldXY()
+model.add_joint("joint0", Joint.CONTINUOUS, link_list[0], link_list[1], origin, axis)
+joints = ["joint0"]
+
+for i in range(1,len(data)):
+    origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+    model.add_joint("joint"+str(i), Joint.CONTINUOUS, link_list[i], link_list[i+1], origin, axis)
+    joints.append("joint"+str(i))
+
+
+# Create a configuration object matching the number of joints in your model
+joint_values = []
+
+for i, char in enumerate(data):
+    if char == '-':
+        joint_values.append(math.pi/2)
+    elif char == '+':
+        joint_values.append(-math.pi/2)
+    else:
+        joint_values.append(0)
+
+configuration = model.zero_configuration()
+configuration.joint_values = joint_values
+
+# Update the model using the artist
+artist = Artist(model)
+artist.update(configuration)
+
+# Render everything
+artist.clear()
+artist.draw_visual()
+artist.redraw()