RobotLocomotion/drake — pull request #666 by RussTedrake (2014-12-30 00:30:25+00:00)
Title: Cables and Pulleys

Implements the basic logic for constant length steel cables wrapped around (frictionless) pulleys. Resolves #546.

![pulleys](https://cloud.githubusercontent.com/assets/6442292/5574573/1779c02a-8f91-11e4-8cc6-967de9dc521f.png)