<sdf version="1.4">
  <world name="default">
    <physics type="ode" name="default" default="true" />
    <physics type="ode" name="unthrottled">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled0">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>0</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled1">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>1</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled2">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>2</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled3">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>3</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled4">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>4</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled5">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>5</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="unthrottled6">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>0</thread_position_correction>
          <island_threads>6</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled0">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>0</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled1">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>1</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled2">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>2</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled3">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>3</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled4">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>4</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled5">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>5</island_threads>
        </solver>
      </ode>
    </physics>
    <physics type="ode" name="split_unthrottled6">
      <real_time_update_rate>0.0</real_time_update_rate>
      <ode>
        <solver>
          <thread_position_correction>1</thread_position_correction>
          <island_threads>6</island_threads>
        </solver>
      </ode>
    </physics>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_0deg</name>
      <pose>0 2.6 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_180deg</name>
      <pose>0 -2.6 0 0 0 3.1416</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_90deg</name>
      <pose>-2.6 0 0 0 0 1.5708</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_270deg</name>
      <pose>2.6 0 0 0 0 -1.5708</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_315deg</name>
      <pose>1.8385 1.8385 0 0 0 -0.7854</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_225deg</name>
      <pose>1.8385 -1.8385 0 0 0 -2.3562</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_135deg</name>
      <pose>-1.8385 -1.8385 0 0 0 2.3562</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_45deg</name>
      <pose>-1.8385 1.8385 0 0 0 0.7854</pose>
    </include>
  </world>
</sdf>
