Checker7.world
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1 /* 7x7 Deployable Checker */
2 
4 [LINKS]
5 
6 %fix the ground link to be the center of the checkers
7 S_4_4 : 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 S_1_6 : body "bodies/square.off" red
15 S_1_7 : body "bodies/square.off" red
16 
17 S_2_1 : body "bodies/square.off" red
18 S_2_2 : body "bodies/square.off" red
19 S_2_3 : body "bodies/square.off" red
20 S_2_4 : body "bodies/square.off" red
21 S_2_5 : body "bodies/square.off" red
22 S_2_6 : body "bodies/square.off" red
23 S_2_7 : body "bodies/square.off" red
24 
25 S_3_1 : body "bodies/square.off" red
26 S_3_2 : body "bodies/square.off" red
27 S_3_3 : body "bodies/square.off" red
28 S_3_4 : body "bodies/square.off" red
29 S_3_5 : body "bodies/square.off" red
30 S_3_6 : body "bodies/square.off" red
31 S_3_7 : body "bodies/square.off" red
32 
33 S_4_1 : body "bodies/square.off" red
34 S_4_2 : body "bodies/square.off" red
35 S_4_3 : body "bodies/square.off" red
36 %S_4_4 : body "bodies/square.off" red
37 S_4_5 : body "bodies/square.off" red
38 S_4_6 : body "bodies/square.off" red
39 S_4_7 : body "bodies/square.off" red
40 
41 S_5_1 : body "bodies/square.off" red
42 S_5_2 : body "bodies/square.off" red
43 S_5_3 : body "bodies/square.off" red
44 S_5_4 : body "bodies/square.off" red
45 S_5_5 : body "bodies/square.off" red
46 S_5_6 : body "bodies/square.off" red
47 S_5_7 : body "bodies/square.off" red
48 
49 S_6_1 : body "bodies/square.off" red
50 S_6_2 : body "bodies/square.off" red
51 S_6_3 : body "bodies/square.off" red
52 S_6_4 : body "bodies/square.off" red
53 S_6_5 : body "bodies/square.off" red
54 S_6_6 : body "bodies/square.off" red
55 S_6_7 : body "bodies/square.off" red
56 
57 S_7_1 : body "bodies/square.off" red
58 S_7_2 : body "bodies/square.off" red
59 S_7_3 : body "bodies/square.off" red
60 S_7_4 : body "bodies/square.off" red
61 S_7_5 : body "bodies/square.off" red
62 S_7_6 : body "bodies/square.off" red
63 S_7_7 : body "bodies/square.off" red
64 
65 [JOINTS]
66 
67 revolute : S_1_1 0+(0,1,0)
68  S_1_2 2+(0,1,0)
69 revolute : S_1_2 0+(0,1,0)
70  S_1_3 2+(0,1,0)
71 revolute : S_1_3 0+(0,1,0)
72  S_1_4 2+(0,1,0)
73 revolute : S_1_4 0+(0,1,0)
74  S_1_5 2+(0,1,0)
75 revolute : S_1_5 0+(0,1,0)
76  S_1_6 2+(0,1,0)
77 revolute : S_1_6 0+(0,1,0)
78  S_1_7 2+(0,1,0)
79 
80 revolute : S_2_1 0+(0,1,0)
81  S_2_2 2+(0,1,0)
82 revolute : S_2_2 0+(0,1,0)
83  S_2_3 2+(0,1,0)
84 revolute : S_2_3 0+(0,1,0)
85  S_2_4 2+(0,1,0)
86 revolute : S_2_4 0+(0,1,0)
87  S_2_5 2+(0,1,0)
88 revolute : S_2_5 0+(0,1,0)
89  S_2_6 2+(0,1,0)
90 revolute : S_2_6 0+(0,1,0)
91  S_2_7 2+(0,1,0)
92 
93 revolute : S_3_1 0+(0,1,0)
94  S_3_2 2+(0,1,0)
95 revolute : S_3_2 0+(0,1,0)
96  S_3_3 2+(0,1,0)
97 revolute : S_3_3 0+(0,1,0)
98  S_3_4 2+(0,1,0)
99 revolute : S_3_4 0+(0,1,0)
100  S_3_5 2+(0,1,0)
101 revolute : S_3_5 0+(0,1,0)
102  S_3_6 2+(0,1,0)
103 revolute : S_3_6 0+(0,1,0)
104  S_3_7 2+(0,1,0)
105 
106 revolute : S_4_1 0+(0,1,0)
107  S_4_2 2+(0,1,0)
108 revolute : S_4_2 0+(0,1,0)
109  S_4_3 2+(0,1,0)
110 revolute : S_4_3 0+(0,1,0)
111  S_4_4 2+(0,1,0)
112 revolute : S_4_4 0+(0,1,0)
113  S_4_5 2+(0,1,0)
114 revolute : S_4_5 0+(0,1,0)
115  S_4_6 2+(0,1,0)
116 revolute : S_4_6 0+(0,1,0)
117  S_4_7 2+(0,1,0)
118 
119 revolute : S_5_1 0+(0,1,0)
120  S_5_2 2+(0,1,0)
121 revolute : S_5_2 0+(0,1,0)
122  S_5_3 2+(0,1,0)
123 revolute : S_5_3 0+(0,1,0)
124  S_5_4 2+(0,1,0)
125 revolute : S_5_4 0+(0,1,0)
126  S_5_5 2+(0,1,0)
127 revolute : S_5_5 0+(0,1,0)
128  S_5_6 2+(0,1,0)
129 revolute : S_5_6 0+(0,1,0)
130  S_5_7 2+(0,1,0)
131 
132 revolute : S_6_1 0+(0,1,0)
133  S_6_2 2+(0,1,0)
134 revolute : S_6_2 0+(0,1,0)
135  S_6_3 2+(0,1,0)
136 revolute : S_6_3 0+(0,1,0)
137  S_6_4 2+(0,1,0)
138 revolute : S_6_4 0+(0,1,0)
139  S_6_5 2+(0,1,0)
140 revolute : S_6_5 0+(0,1,0)
141  S_6_6 2+(0,1,0)
142 revolute : S_6_6 0+(0,1,0)
143  S_6_7 2+(0,1,0)
144 
145 revolute : S_7_1 0+(0,1,0)
146  S_7_2 2+(0,1,0)
147 revolute : S_7_2 0+(0,1,0)
148  S_7_3 2+(0,1,0)
149 revolute : S_7_3 0+(0,1,0)
150  S_7_4 2+(0,1,0)
151 revolute : S_7_4 0+(0,1,0)
152  S_7_5 2+(0,1,0)
153 revolute : S_7_5 0+(0,1,0)
154  S_7_6 2+(0,1,0)
155 revolute : S_7_6 0+(0,1,0)
156  S_7_7 2+(0,1,0)
157 
158 
159 revolute : S_1_1 3+(0,1,0)
160  S_2_1 1+(0,1,0)
161 revolute : S_1_2 3+(0,1,0)
162  S_2_2 1+(0,1,0)
163 revolute : S_1_3 3+(0,1,0)
164  S_2_3 1+(0,1,0)
165 revolute : S_1_4 3+(0,1,0)
166  S_2_4 1+(0,1,0)
167 revolute : S_1_5 3+(0,1,0)
168  S_2_5 1+(0,1,0)
169 revolute : S_1_6 3+(0,1,0)
170  S_2_6 1+(0,1,0)
171 revolute : S_1_7 3+(0,1,0)
172  S_2_7 1+(0,1,0)
173 
174 revolute : S_2_1 3+(0,1,0)
175  S_3_1 1+(0,1,0)
176 revolute : S_2_2 3+(0,1,0)
177  S_3_2 1+(0,1,0)
178 revolute : S_2_3 3+(0,1,0)
179  S_3_3 1+(0,1,0)
180 revolute : S_2_4 3+(0,1,0)
181  S_3_4 1+(0,1,0)
182 revolute : S_2_5 3+(0,1,0)
183  S_3_5 1+(0,1,0)
184 revolute : S_2_6 3+(0,1,0)
185  S_3_6 1+(0,1,0)
186 revolute : S_2_7 3+(0,1,0)
187  S_3_7 1+(0,1,0)
188 
189 revolute : S_3_1 3+(0,1,0)
190  S_4_1 1+(0,1,0)
191 revolute : S_3_2 3+(0,1,0)
192  S_4_2 1+(0,1,0)
193 revolute : S_3_3 3+(0,1,0)
194  S_4_3 1+(0,1,0)
195 revolute : S_3_4 3+(0,1,0)
196  S_4_4 1+(0,1,0)
197 revolute : S_3_5 3+(0,1,0)
198  S_4_5 1+(0,1,0)
199 revolute : S_3_6 3+(0,1,0)
200  S_4_6 1+(0,1,0)
201 revolute : S_3_7 3+(0,1,0)
202  S_4_7 1+(0,1,0)
203 
204 revolute : S_4_1 3+(0,1,0)
205  S_5_1 1+(0,1,0)
206 revolute : S_4_2 3+(0,1,0)
207  S_5_2 1+(0,1,0)
208 revolute : S_4_3 3+(0,1,0)
209  S_5_3 1+(0,1,0)
210 revolute : S_4_4 3+(0,1,0)
211  S_5_4 1+(0,1,0)
212 revolute : S_4_5 3+(0,1,0)
213  S_5_5 1+(0,1,0)
214 revolute : S_4_6 3+(0,1,0)
215  S_5_6 1+(0,1,0)
216 revolute : S_4_7 3+(0,1,0)
217  S_5_7 1+(0,1,0)
218 
219 revolute : S_5_1 3+(0,1,0)
220  S_6_1 1+(0,1,0)
221 revolute : S_5_2 3+(0,1,0)
222  S_6_2 1+(0,1,0)
223 revolute : S_5_3 3+(0,1,0)
224  S_6_3 1+(0,1,0)
225 revolute : S_5_4 3+(0,1,0)
226  S_6_4 1+(0,1,0)
227 revolute : S_5_5 3+(0,1,0)
228  S_6_5 1+(0,1,0)
229 revolute : S_5_6 3+(0,1,0)
230  S_6_6 1+(0,1,0)
231 revolute : S_5_7 3+(0,1,0)
232  S_6_7 1+(0,1,0)
233 
234 revolute : S_6_1 3+(0,1,0)
235  S_7_1 1+(0,1,0)
236 revolute : S_6_2 3+(0,1,0)
237  S_7_2 1+(0,1,0)
238 revolute : S_6_3 3+(0,1,0)
239  S_7_3 1+(0,1,0)
240 revolute : S_6_4 3+(0,1,0)
241  S_7_4 1+(0,1,0)
242 revolute : S_6_5 3+(0,1,0)
243  S_7_5 1+(0,1,0)
244 revolute : S_6_6 3+(0,1,0)
245  S_7_6 1+(0,1,0)
246 revolute : S_6_7 3+(0,1,0)
247  S_7_7 1+(0,1,0)
248