Merge branch 'master' of github.com:erwincoumans/bullet3

4 files changed, 1132 insertions, 0 deletions

diff --git a/data/Base_1.urdf b/data/Base_1.urdf
new file mode 100644
index 000000000..e7b251a1d
--- /dev/null
+++ b/data/Base_1.urdf
@@ -0,0 +1,65 @@
+<?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>
\ No newline at end of file
diff --git a/data/Base_2.urdf b/data/Base_2.urdf
new file mode 100644
index 000000000..44ff0d44d
--- /dev/null
+++ b/data/Base_2.urdf
@@ -0,0 +1,415 @@
+<?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>
\ No newline at end of file
diff --git a/data/Pendulum_Tendon_1_Cart_Rail.urdf b/data/Pendulum_Tendon_1_Cart_Rail.urdf
new file mode 100644
index 000000000..a680987a5
--- /dev/null
+++ b/data/Pendulum_Tendon_1_Cart_Rail.urdf
@@ -0,0 +1,485 @@
+<?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="Rail">
+    <visual>
+      <geometry>
+        <cylinder length="4" radius=".05"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="4" radius=".05"/>
+      </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="slider">
+    <visual>
+      <geometry>
+        <box size="0.1 0.6 0.3"/>
+      </geometry>
+      <material name="other"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.6 0.3"/>
+      </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>
+
+  <joint name="rail_slider" type="prismatic">
+    <axis xyz="0 1 0"/>
+    <parent link="Rail"/>
+    <child link="slider"/>
+    <limit effort="0" lower="-2" upper="2" velocity="25"/>
+    <origin rpy="-1.570796 0 0" xyz="0 0 0"/>
+  </joint>
+
+  <link name="cart">
+    <visual>
+      <geometry>
+        <box size="0.1 0.6 0.3"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.6 0.3"/>
+      </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>
+
+  <joint name="slider_cart" type="fixed">
+    <parent link="slider"/>
+    <child link="cart"/>
+    <origin rpy="0 0 0" xyz="0 0 0.3"/>
+  </joint>
+<!--*****************************************-->
+  
+  <link name="pendulumAxis">
+    <visual>
+      <geometry>
+        <box size="0.1 0.1 .1"/>
+      </geometry>
+      <material name="other"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 0.1 .1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="10"/>
+      <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>
+
+  <joint name="cart_pendulumAxis" type="revolute">
+    <axis xyz="0 0 1"/>
+    <parent link="cart"/>
+    <child link="pendulumAxis"/>
+    <limit effort="0" lower="1" upper="0" velocity="205"/>
+    <origin rpy="0 0 0" xyz="0 0 .21"/>
+  </joint>
+  
+  <link name="pendulum">
+    <visual>
+      <geometry>
+        <box size="0.1 2 .1"/>
+      </geometry>
+      <material name="blue"/>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.1 2 .1"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <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>
+
+  <joint name="pendulumAxis_pendulum" type="fixed">
+    <parent link="pendulumAxis"/>
+    <child link="pendulum"/>
+    <origin rpy="0 0 1.570796" xyz="1 0 0"/>
+  </joint>
+  
+      <!--*****************************************-->
+  <link name="tendon1_1">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="cart_tendon1_1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <parent link="cart"/>
+    <child link="tendon1_1"/>
+    <limit effort="0" lower="1" upper="0" velocity="50"/>
+    <origin rpy="0 0 0" xyz="0 .55 0"/>
+  </joint>
+
+  <link name="tendon1_2">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_3">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_4">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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 0" xyz="0 .2 0"/>
+  </joint>
+  <link name="tendon1_5">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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 0" xyz="0 .2 0"/>
+  </joint>
+  <link name="tendon1_6">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_7">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_8">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_9">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_10">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_11">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_12">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 0"/>
+  </joint>
+  <link name="tendon1_13">
+    <visual>
+      <geometry>
+        <cylinder length=".1" radius=".05"/>
+      </geometry>
+      <material name="other"/>
+    </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="0 .2 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="0 .2 0"/>
+  </joint>
+  
+   <!---->
+</robot>
\ No newline at end of file
diff --git a/examples/pybullet/examples/inverted_pendulum_tendon_actuation.py b/examples/pybullet/examples/inverted_pendulum_tendon_actuation.py
new file mode 100644
index 000000000..d9b075931
--- /dev/null
+++ b/examples/pybullet/examples/inverted_pendulum_tendon_actuation.py
@@ -0,0 +1,167 @@
+"""
+https://valerolab.org/
+
+PID control of an inverted pendulum actuated by strings.
+"""
+
+import pybullet as p
+import time
+import math as m
+import numpy as np
+import pybullet_data
+import matplotlib.pyplot as plt
+
+
+p.connect(p.GUI)
+plane = p.loadURDF("plane.urdf")
+
+"""_____________________________________________________________________________________________________________________________"""
+"""Gains, motor forces, daq and timing parameters"""
+
+""" Gains for pendulum angle"""
+proportional_gain = 30000
+integral_gain = 18000
+derivative_gain = 22000
+
+"""Motor force parameters"""
+tension_force = 600
+
+"""Control input parameters"""
+u_factor = 1.5
+u_lower_limit =  tension_force
+u_upper_limit=9000
+
+"""Data aquisition, timing and history"""
+time_steps = 2000
+history = np.array( [[1000,-1000,0]] )
+time_history = np.array([[0]])
+previous_pendulum_angle = 0
+previous_cart_position = 0
+
+"""_____________________________________________________________________________________________________________________________"""
+"""Loading URDF files"""
+
+cubeStartPos = [-2.15,0,.75]
+cubeStartPos2 = [0,0,1.4]
+cubeStartPos3 = [2.15,0,.75]
+
+PulleyStartOrientation = p.getQuaternionFromEuler([1.570796, 0, 0])  
+cubeStartOrientation = p.getQuaternionFromEuler([0,0,0]) 
+cubeStartOrientation2 = p.getQuaternionFromEuler([0,-1.570796,0])
+
+base_1 = p.loadURDF("Base_1.urdf",cubeStartPos3, cubeStartOrientation, useFixedBase=1, flags=p.URDF_USE_SELF_COLLISION) #Base 1: magenta base and tendon
+base_2 = p.loadURDF("Base_2.urdf",cubeStartPos, cubeStartOrientation, useFixedBase=1, flags=p.URDF_USE_SELF_COLLISION)  #Base 2: white base and tendon
+pendulum = p.loadURDF("Pendulum_Tendon_1_Cart_Rail.urdf",cubeStartPos2, cubeStartOrientation2, useFixedBase=1, flags=p.URDF_USE_SELF_COLLISION) 
+
+
+"""_____________________________________________________________________________________________________________________________"""
+"""Getting access and information from specific joints in each body (each body has links and joint described in the URDF files):"""
+nJoints = p.getNumJoints(base_1)  #Base 1: magenta base and tendon
+jointNameToId = {}
+for i in range(nJoints):
+  jointInfo = p.getJointInfo(base_1, i)
+  jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+Base_pulley_1 = jointNameToId['Base_pulley1']
+
+nJoints = p.getNumJoints(pendulum)
+jointNameToId = {}
+for i in range(nJoints):
+  jointInfo = p.getJointInfo(pendulum, i)
+  jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+last_tendon_link_1 = jointNameToId['tendon1_13_tendon1_14']
+cart_pendulumAxis = jointNameToId['cart_pendulumAxis']
+cart = jointNameToId['slider_cart']
+
+nJoints = p.getNumJoints(base_2)  #Base 2: white base and tendon
+jointNameToId = {}
+for i in range(nJoints):
+  jointInfo = p.getJointInfo(base_2, i)
+  jointNameToId[jointInfo[1].decode('UTF-8')] = jointInfo[0]
+last_tendon_link_2 = jointNameToId['tendon1_13_tendon1_14']
+Base_pulley_2 = jointNameToId['Base_pulley1']
+"""_____________________________________________________________________________________________________________________________"""
+"""Creating new contraints (joints), with the information obtained in the previous step"""
+
+pulley_1_tendon_magenta = p.createConstraint(base_1, Base_pulley_1, pendulum, last_tendon_link_1, p.JOINT_FIXED, [0, 0, 1], [0, 0, 0], [-.56, 0, 0])
+tendon_white_cart = p.createConstraint(base_2, last_tendon_link_2, pendulum, cart, p.JOINT_FIXED, [0, 0, 1], [0, 0, 0], [0,-.55, 0])
+
+"""_____________________________________________________________________________________________________________________________"""
+"""Defining some motor conditions"""
+p.setJointMotorControl2(pendulum, cart_pendulumAxis, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
+p.setJointMotorControl2(base_1, Base_pulley_1, p.VELOCITY_CONTROL, targetVelocity=10, force=1000) #Base 1: magenta base and tendon
+p.setJointMotorControl2(base_2, Base_pulley_2, p.VELOCITY_CONTROL, targetVelocity=10, force=-1000)#Base 2: white base and tendon
+
+
+"""_____________________________________________________________________________________________________________________________"""
+
+
+p.setGravity(0,0,-10)
+
+
+for i in range (time_steps):
+    p.stepSimulation()
+    pendulum_angle = p.getJointState(pendulum,cart_pendulumAxis)
+    pendulum_angle = pendulum_angle[0]
+    angle_delta_error = -pendulum_angle
+
+    #PROPPORTIONAL
+    p_correction = proportional_gain * pendulum_angle
+
+    #INTEGRAL
+    i_correction = integral_gain * (previous_pendulum_angle + pendulum_angle)
+    previous_pendulum_angle = pendulum_angle
+
+    #DERIVATIVE
+    d_correction = derivative_gain * angle_delta_error
+
+    u = p_correction + i_correction + d_correction + 10
+    
+    u = abs(u)
+    if u<u_lower_limit:
+      u=u_lower_limit
+    elif u>u_upper_limit:
+      u=u_upper_limit   
+    
+    if pendulum_angle > 0:
+      u_pulley_1 = u * u_factor   #Base 1: magenta base and tendon
+      u_pulley_2 = -tension_force #Base 2: white base and tendon
+      #print(">0")
+    else:
+      u_pulley_1 = tension_force  #Base 1: magenta base and tendon
+      u_pulley_2 = -u * u_factor  #Base 2: white base and tendon
+      #print("<0")
+
+    p.setJointMotorControl2(base_1, Base_pulley_1, p.VELOCITY_CONTROL, targetVelocity=100, force = u_pulley_1)  
+    p.setJointMotorControl2(base_2, Base_pulley_2, p.VELOCITY_CONTROL, targetVelocity=100, force = u_pulley_2)  
+
+    history = np.append(history , [[ u_pulley_1, u_pulley_2, pendulum_angle]] , axis = 0)    
+        
+    time.sleep(1./240.)
+
+print("Done with simulation")
+
+fig, ax1 = plt.subplots()
+ax1.set_xlabel("Time Steps")
+ax1.set_ylabel("Activation Values")
+ax1.plot(history[:,0],label="u_pulley_1")
+ax1.plot(history[:,1],label="u_pulley_2")
+ax1.set_ylim((-12000,12000))
+
+plt.legend(loc='best', bbox_to_anchor=(0.5, 0., 0.5, 0.5),
+           ncol=1, mode=None, borderaxespad=0.)
+plt.title("Ctrl Input and Angle History") 
+plt.grid(True)
+color = 'tab:red'
+ax2 = ax1.twinx()
+ax2.set_ylabel('Pendulum Angle', color=color)
+ax2.plot(np.rad2deg(history[:,2]),label="Angle",color=color)
+ax2.tick_params(axis='y', labelcolor=color)
+ax2.set_ylim((-90,90))
+
+fig.tight_layout()
+plt.show()
+    
+p.disconnect()
+
+
+