<?xml version="1.0"?>
<!--https://valerolab.org/-->
<!--
Code used for PID control of an inverted pendulum actuated by strings.
-->
<robot name="myfirst">
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="white">
    <color rgba="1 1 1 1"/>
  </material>
  <material name="other">
    <color rgba="1 0 0.8 1"/>
  </material>
  <velocity name="vel">
    <speed spd="50"/>
  </velocity>
  

  <link name="Base">
    <visual>
      <geometry>
        <box size="0.3 0.3 1.5"/>
      </geometry>
      <material name="other"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.3 0.3 1.5"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="100"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>

 <link name="pulley1">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".5"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".5"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="Base_pulley1" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="Base"/>
    <child link="pulley1"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="-1.57075 0 0" xyz="0 .35 .15"/>
  </joint>
<!---->
</robot>