Checker5.world
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1 /* 5x5 Deployable Checker */
2 
4 [LINKS]
5 
6 %fix the ground link to be the center of the checkers
7 S_3_3 : body "bodies/square.off" red
8 
9 S_1_1 : body "bodies/square.off" red
10 S_1_2 : body "bodies/square.off" red
11 S_1_3 : body "bodies/square.off" red
12 S_1_4 : body "bodies/square.off" red
13 S_1_5 : body "bodies/square.off" red
14 
15 S_2_1 : body "bodies/square.off" red
16 S_2_2 : body "bodies/square.off" red
17 S_2_3 : body "bodies/square.off" red
18 S_2_4 : body "bodies/square.off" red
19 S_2_5 : body "bodies/square.off" red
20 
21 S_3_1 : body "bodies/square.off" red
22 S_3_2 : body "bodies/square.off" red
23 %S_3_3 : body "bodies/square.off" red
24 S_3_4 : body "bodies/square.off" red
25 S_3_5 : body "bodies/square.off" red
26 
27 S_4_1 : body "bodies/square.off" red
28 S_4_2 : body "bodies/square.off" red
29 S_4_3 : body "bodies/square.off" red
30 S_4_4 : body "bodies/square.off" red
31 S_4_5 : body "bodies/square.off" red
32 
33 S_5_1 : body "bodies/square.off" red
34 S_5_2 : body "bodies/square.off" red
35 S_5_3 : body "bodies/square.off" red
36 S_5_4 : body "bodies/square.off" red
37 S_5_5 : body "bodies/square.off" red
38 
39 [JOINTS]
40 
41 revolute : S_1_1 0+(0,1,0)
42  S_1_2 2+(0,1,0)
43 revolute : S_1_2 0+(0,1,0)
44  S_1_3 2+(0,1,0)
45 revolute : S_1_3 0+(0,1,0)
46  S_1_4 2+(0,1,0)
47 revolute : S_1_4 0+(0,1,0)
48  S_1_5 2+(0,1,0)
49 
50 revolute : S_2_1 0+(0,1,0)
51  S_2_2 2+(0,1,0)
52 revolute : S_2_2 0+(0,1,0)
53  S_2_3 2+(0,1,0)
54 revolute : S_2_3 0+(0,1,0)
55  S_2_4 2+(0,1,0)
56 revolute : S_2_4 0+(0,1,0)
57  S_2_5 2+(0,1,0)
58 
59 revolute : S_3_1 0+(0,1,0)
60  S_3_2 2+(0,1,0)
61 revolute : S_3_2 0+(0,1,0)
62  S_3_3 2+(0,1,0)
63 revolute : S_3_3 0+(0,1,0)
64  S_3_4 2+(0,1,0)
65 revolute : S_3_4 0+(0,1,0)
66  S_3_5 2+(0,1,0)
67 
68 revolute : S_4_1 0+(0,1,0)
69  S_4_2 2+(0,1,0)
70 revolute : S_4_2 0+(0,1,0)
71  S_4_3 2+(0,1,0)
72 revolute : S_4_3 0+(0,1,0)
73  S_4_4 2+(0,1,0)
74 revolute : S_4_4 0+(0,1,0)
75  S_4_5 2+(0,1,0)
76 
77 revolute : S_5_1 0+(0,1,0)
78  S_5_2 2+(0,1,0)
79 revolute : S_5_2 0+(0,1,0)
80  S_5_3 2+(0,1,0)
81 revolute : S_5_3 0+(0,1,0)
82  S_5_4 2+(0,1,0)
83 revolute : S_5_4 0+(0,1,0)
84  S_5_5 2+(0,1,0)
85 
86 revolute : S_1_1 3+(0,1,0)
87  S_2_1 1+(0,1,0)
88 revolute : S_1_2 3+(0,1,0)
89  S_2_2 1+(0,1,0)
90 revolute : S_1_3 3+(0,1,0)
91  S_2_3 1+(0,1,0)
92 revolute : S_1_4 3+(0,1,0)
93  S_2_4 1+(0,1,0)
94 revolute : S_1_5 3+(0,1,0)
95  S_2_5 1+(0,1,0)
96 
97 revolute : S_2_1 3+(0,1,0)
98  S_3_1 1+(0,1,0)
99 revolute : S_2_2 3+(0,1,0)
100  S_3_2 1+(0,1,0)
101 revolute : S_2_3 3+(0,1,0)
102  S_3_3 1+(0,1,0)
103 revolute : S_2_4 3+(0,1,0)
104  S_3_4 1+(0,1,0)
105 revolute : S_2_5 3+(0,1,0)
106  S_3_5 1+(0,1,0)
107 
108 revolute : S_3_1 3+(0,1,0)
109  S_4_1 1+(0,1,0)
110 revolute : S_3_2 3+(0,1,0)
111  S_4_2 1+(0,1,0)
112 revolute : S_3_3 3+(0,1,0)
113  S_4_3 1+(0,1,0)
114 revolute : S_3_4 3+(0,1,0)
115  S_4_4 1+(0,1,0)
116 revolute : S_3_5 3+(0,1,0)
117  S_4_5 1+(0,1,0)
118 
119 revolute : S_4_1 3+(0,1,0)
120  S_5_1 1+(0,1,0)
121 revolute : S_4_2 3+(0,1,0)
122  S_5_2 1+(0,1,0)
123 revolute : S_4_3 3+(0,1,0)
124  S_5_3 1+(0,1,0)
125 revolute : S_4_4 3+(0,1,0)
126  S_5_4 1+(0,1,0)
127 revolute : S_4_5 3+(0,1,0)
128  S_5_5 1+(0,1,0)
129