#ifndef THIRD_PARTY_PY_PYTINYDIFFSIM_EXAMPLES_ENVIRONMENTS_CARTPOLE_URDF2_H_
#define THIRD_PARTY_PY_PYTINYDIFFSIM_EXAMPLES_ENVIRONMENTS_CARTPOLE_URDF2_H_

//this file is autogenerated using stringify.bat (premake --stringify) in the build folder of this project

static const char* sCartPole= \
"<?xml version=\"1.0\"?>\n"
"<robot name=\"physics\">\n"
"    <link name=\"slideBar\">\n"
"    <visual>\n"
"      <geometry>\n"
"        <box size=\"30 0.05 0.05\"/>\n"
"      </geometry>\n"
"      <origin xyz=\"0 0 0\"/>\n"
"      <material name=\"green\">\n"
"        <color rgba=\"0 0.8 .8 1\"/>\n"
"      </material>\n"
"    </visual>\n"
"    <inertial>\n"
"      <mass value=\"0\"/>\n"
"      <inertia ixx=\"1.0\" ixy=\"0.0\" ixz=\"0.0\" iyy=\"1.0\" iyz=\"0.0\" izz=\"1.0\"/>\n"
"    </inertial>\n"
"  </link>\n"
"  <link name=\"cart\">\n"
"    <visual>\n"
"      <geometry>\n"
"        <box size=\"0.5 0.5 0.2\"/>\n"
"      </geometry>\n"
"      <origin xyz=\"0 0 0\"/>\n"
"      <material name=\"blue\">\n"
"        <color rgba=\"0 0 .8 1\"/>\n"
"      </material>\n"
"    </visual>\n"
"    <collision>\n"
"      <geometry>\n"
"          <box size=\"0.5 0.5 0.2\"/>\n"
"      </geometry>\n"
"      <origin xyz=\"0 0 0\"/>\n"
"    </collision>\n"
"    <inertial>\n"
"      <mass value=\"1\"/>\n"
"      <inertia ixx=\"0.02417\" ixy=\"0\" ixz=\"0\" iyy=\"0.02417\" iyz=\"0\" izz=\"0.04167\"/>\n"
"    </inertial>\n"
"  </link>\n"
"  <joint name=\"slider_to_cart\" type=\"prismatic\">\n"
"    <axis xyz=\"1 0 0\"/>\n"
"    <origin xyz=\"0.0 0.0 0.0\"/>\n"
"    <parent link=\"slideBar\"/>\n"
"    <child link=\"cart\"/>\n"
"    <limit effort=\"1000.0\" lower=\"-15\" upper=\"15\" velocity=\"5\"/>\n"
"  </joint>\n"
"  <link name=\"pole\">\n"
"    <visual>\n"
"      <geometry>\n"
"        <box size=\"0.05 0.05 1.0\"/>	\n"
"      </geometry>\n"
"      <origin rpy=\"0 0 0\" xyz=\"0 0 0.5\"/>\n"
"      <material name=\"white\">\n"
"        <color rgba=\"1 1 1 1\"/>\n"
"      </material>\n"
"    </visual>\n"
"    <inertial>\n"
"    <origin xyz=\"0 0 0.5\"/>\n"
"      <mass value=\"0.1\"/>\n"
"      <inertia ixx=\"0.00835\" ixy=\"0\" ixz=\"0\" iyy=\"0.00835\" iyz=\"0\" izz=\"0.00004\"/>\n"
"    </inertial>\n"
"<collision>\n"
"      <geometry>\n"
"        <box size=\"0.05 0.05 1.0\"/>\n"
"      </geometry>\n"
"      <origin rpy=\"0 0 0\" xyz=\"0 0 0.5\"/>\n"
"    </collision>\n"
"  </link>\n"
"  <joint name=\"cart_to_pole\" type=\"continuous\">\n"
"    <axis xyz=\"0 1 0\"/>\n"
"    <origin xyz=\"0.0 0.0 0\"/>\n"
"    <parent link=\"cart\"/>\n"
"    <child link=\"pole\"/>\n"
"  </joint>\n"
"  \n"
"</robot>\n"
;
#endif  // THIRD_PARTY_PY_PYTINYDIFFSIM_EXAMPLES_ENVIRONMENTS_CARTPOLE_URDF2_H_

