diff --git a/lecture_03/assignment_02/yinan_xiao/assignment_02_YX.py b/lecture_03/assignment_02/yinan_xiao/assignment_02_YX.py
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+++ b/lecture_03/assignment_02/yinan_xiao/assignment_02_YX.py
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+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 rhinoscriptsyntax as rs
+#objects = rs.ObjectsByLayer("Default")
+#rs.DeleteObjects(objects)
+
+# 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]))
+
+radius3, length3 = 0.3, 10
+cylinder3 = Cylinder(Circle(Plane([0, 0, 0], [1, 0, 0]), radius3), length3)
+cylinder3.transform(Translation.from_vector([length3 / 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)
+mesh1 = Mesh.from_shape(cylinder)
+mesh2 = Mesh.from_shape(cylinder)
+mesh3 = Mesh.from_shape(cylinder3)
+
+# add links
+link0 = model.add_link("world")
+link1 = model.add_link("link1", visual_mesh=mesh1, visual_color=(0.2, 0.5, 0.6))
+link2 = model.add_link("link2", visual_mesh=mesh2, visual_color=(0.5, 0.6, 0.2))
+link3 = model.add_link("link3", visual_mesh = mesh3)
+link4 = model.add_link("link4", visual_mesh = mesh3)
+
+# add joints between the links
+axis = (0, 0, 1)
+
+origin = Frame.worldXY()
+model.add_joint("joint1", Joint.CONTINUOUS, link0, link1, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint2", Joint.CONTINUOUS, link1, link2, origin, axis)
+
+origin = Frame((length, 0, 0), (0.87, -0.5, 0), (0.5, 0.87, 0))
+model.add_joint("joint3", Joint.CONTINUOUS, link2, link3, origin, axis)
+
+origin = Frame((length, 0, 0), (0.87, 0.5, 0), (-0.5, 0.87, 0))
+model.add_joint("joint4", Joint.CONTINUOUS, link2, link4, origin, axis)
+
+# Create a configuration object matching the number of joints in your model
+# configuration = ....
+config = Configuration([Joint.CONTINUOUS, Joint.CONTINUOUS, Joint.CONTINUOUS, Joint.CONTINUOUS], ["joint1", "joint2", "joint3", "joint4"])
+print(config)
+
+# Update the model using the artist
+artist = Artist(model)
+# artist.update ...
+
+# Render everything
+artist.clear_layer()
+artist.draw_visual()
+artist.redraw()
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