diff --git a/lecture_03/assignment_02/vasilis_aloutsanidis/assignment-02.ghx b/lecture_03/assignment_02/vasilis_aloutsanidis/assignment-02.ghx
new file mode 100644
index 0000000..8ff0339
--- /dev/null
+++ b/lecture_03/assignment_02/vasilis_aloutsanidis/assignment-02.ghx
@@ -0,0 +1,542 @@
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+<Archive name="Root">
+  <!--Grasshopper archive-->
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+                <item name="Name" type_name="gh_string" type_code="10">GhPython Script</item>
+              </items>
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+                <chunk name="Container">
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+                    <item name="CodeInput" type_name="gh_string" type_code="10">from compas.artists import Artist
+from compas.datastructures import Mesh
+from compas.geometry import Circle
+from compas.geometry import Cylinder
+from compas.geometry import Sphere
+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
+
+# 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]))
+
+sphere = Sphere([0,0,0], radius)
+sphere.transform(Translation.from_vector([radius, 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(sphere)
+mesh3 = Mesh.from_shape(cylinder)
+mesh4 = Mesh.from_shape(sphere)
+mesh5 = Mesh.from_shape(cylinder)
+
+# 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, visual_color=(0.1, 0.6, 0.2))
+link4 = model.add_link("link4", visual_mesh=mesh4, visual_color=(0.8, 0.6, 0.4))
+link5 = model.add_link("link5", visual_mesh=mesh5, visual_color=(0.6, 0.3, 0.4))
+
+# 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((radius*2, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint3", Joint.CONTINUOUS, link2, link3, origin, axis)
+
+origin = Frame((length, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint4", Joint.CONTINUOUS, link3, link4, origin, axis)
+
+origin = Frame((radius*2, 0, 0), (1, 0, 0), (0, 1, 0))
+model.add_joint("joint5", Joint.CONTINUOUS, link4, link5, origin, axis)
+
+# Create a configuration object matching the number of joints in your model
+configuration = model.zero_configuration()
+configuration.joint_values = joint_vals
+print (configuration)
+
+# Update the model using the artist
+artist = Artist(model)
+artist.update(configuration)
+
+# Render everything
+a = artist.draw_visual()
+#artist.redraw()
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+                    <item name="Name" type_name="gh_string" type_code="10">Number Slider</item>
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+                          <X>57</X>
+                          <Y>452</Y>
+                          <W>160</W>
+                          <H>20</H>
+                        </item>
+                        <item name="Pivot" type_name="gh_drawing_pointf" type_code="31">
+                          <X>57.92836</X>
+                          <Y>452.344</Y>
+                        </item>
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+                <item name="Name" type_name="gh_string" type_code="10">Number Slider</item>
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+                    <item name="Description" type_name="gh_string" type_code="10">Numeric slider for single values</item>
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+                    <item name="Name" type_name="gh_string" type_code="10">Number Slider</item>
+                    <item name="NickName" type_name="gh_string" type_code="10"></item>
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+                    <chunk name="Attributes">
+                      <items count="2">
+                        <item name="Bounds" type_name="gh_drawing_rectanglef" type_code="35">
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+                          <H>20</H>
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+                          <X>60.38486</X>
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+                    </chunk>
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+                      <items count="7">
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+                        <item name="Min" type_name="gh_double" type_code="6">-3.14</item>
+                        <item name="SnapCount" type_name="gh_int32" type_code="3">0</item>
+                        <item name="Value" type_name="gh_double" type_code="6">-0.19</item>
+                      </items>
+                    </chunk>
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\ No newline at end of file