<sdf version="1.4">
  <world name="default">
    <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 2.1 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_180deg</name>
      <pose>0 -2.1 0 0 0 3.1416</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_90deg</name>
      <pose>-2.1 0 0 0 0 1.5708</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_270deg</name>
      <pose>2.1 0 0 0 0 -1.5708</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_315deg</name>
      <pose>1.48 1.48 0 0 0 -0.7854</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_225deg</name>
      <pose>1.48 -1.48 0 0 0 -2.3562</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_135deg</name>
      <pose>-1.48 -1.48 0 0 0 2.3562</pose>
    </include>
    <include>
      <uri>model://double_pendulum_with_base</uri>
      <name>pendulum_45deg</name>
      <pose>-1.48 1.48 0 0 0 0.7854</pose>
    </include>
  </world>
</sdf>
