<?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="white"/>
    </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 1.57075 0" xyz="0 .35 .15"/>
  </joint>

  <link name="tendon1_1">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="pulley1_tendon1_1" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="pulley1"/>
    <child link="tendon1_1"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 3.1416" xyz="0 .55 0"/>
  </joint>

  <link name="tendon1_2">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_1_tendon1_2" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_1"/>
    <child link="tendon1_2"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_3">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_2_tendon1_3" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_2"/>
    <child link="tendon1_3"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_4">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_3_tendon1_4" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_3"/>
    <child link="tendon1_4"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 1" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_5">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_4_tendon1_5" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_4"/>
    <child link="tendon1_5"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 1" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_6">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_5_tendon1_6" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_5"/>
    <child link="tendon1_6"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_7">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_6_tendon1_7" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_6"/>
    <child link="tendon1_7"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_8">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_7_tendon1_8" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_7"/>
    <child link="tendon1_8"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_9">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_8_tendon1_9" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_8"/>
    <child link="tendon1_9"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_10">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_9_tendon1_10" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_9"/>
    <child link="tendon1_10"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_11">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_10_tendon1_11" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_10"/>
    <child link="tendon1_11"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_12">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_11_tendon1_12" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_11"/>
    <child link="tendon1_12"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_13">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_12_tendon1_13" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_12"/>
    <child link="tendon1_13"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

  <link name="tendon1_14">
    <visual>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
      <material name="white"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length=".1" radius=".05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
    </inertial>
  </link>
  <joint name="tendon1_13_tendon1_14" type="revolute">
    <axis xyz="0 0 1"/>
    <parent link="tendon1_13"/>
    <child link="tendon1_14"/>
    <limit effort="0" lower="1" upper="0" velocity="50"/>
    <origin rpy="0 0 0" xyz=".2 0 0"/>
  </joint>

</robot>