Checker9.world
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1 /* 9x9 Deployable Checker */
2 
4 [LINKS]
5 
6 %fix the ground link to be the center of the checkers
7 S_5_5 : 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 S_1_8 : body "bodies/square.off" red
17 S_1_9 : body "bodies/square.off" red
18 
19 S_2_1 : body "bodies/square.off" red
20 S_2_2 : body "bodies/square.off" red
21 S_2_3 : body "bodies/square.off" red
22 S_2_4 : body "bodies/square.off" red
23 S_2_5 : body "bodies/square.off" red
24 S_2_6 : body "bodies/square.off" red
25 S_2_7 : body "bodies/square.off" red
26 S_2_8 : body "bodies/square.off" red
27 S_2_9 : body "bodies/square.off" red
28 
29 S_3_1 : body "bodies/square.off" red
30 S_3_2 : body "bodies/square.off" red
31 S_3_3 : body "bodies/square.off" red
32 S_3_4 : body "bodies/square.off" red
33 S_3_5 : body "bodies/square.off" red
34 S_3_6 : body "bodies/square.off" red
35 S_3_7 : body "bodies/square.off" red
36 S_3_8 : body "bodies/square.off" red
37 S_3_9 : body "bodies/square.off" red
38 
39 S_4_1 : body "bodies/square.off" red
40 S_4_2 : body "bodies/square.off" red
41 S_4_3 : body "bodies/square.off" red
42 S_4_4 : body "bodies/square.off" red
43 S_4_5 : body "bodies/square.off" red
44 S_4_6 : body "bodies/square.off" red
45 S_4_7 : body "bodies/square.off" red
46 S_4_8 : body "bodies/square.off" red
47 S_4_9 : body "bodies/square.off" red
48 
49 S_5_1 : body "bodies/square.off" red
50 S_5_2 : body "bodies/square.off" red
51 S_5_3 : body "bodies/square.off" red
52 S_5_4 : body "bodies/square.off" red
53 %S_5_5 : body "bodies/square.off" red
54 S_5_6 : body "bodies/square.off" red
55 S_5_7 : body "bodies/square.off" red
56 S_5_8 : body "bodies/square.off" red
57 S_5_9 : body "bodies/square.off" red
58 
59 S_6_1 : body "bodies/square.off" red
60 S_6_2 : body "bodies/square.off" red
61 S_6_3 : body "bodies/square.off" red
62 S_6_4 : body "bodies/square.off" red
63 S_6_5 : body "bodies/square.off" red
64 S_6_6 : body "bodies/square.off" red
65 S_6_7 : body "bodies/square.off" red
66 S_6_8 : body "bodies/square.off" red
67 S_6_9 : body "bodies/square.off" red
68 
69 S_7_1 : body "bodies/square.off" red
70 S_7_2 : body "bodies/square.off" red
71 S_7_3 : body "bodies/square.off" red
72 S_7_4 : body "bodies/square.off" red
73 S_7_5 : body "bodies/square.off" red
74 S_7_6 : body "bodies/square.off" red
75 S_7_7 : body "bodies/square.off" red
76 S_7_8 : body "bodies/square.off" red
77 S_7_9 : body "bodies/square.off" red
78 
79 S_8_1 : body "bodies/square.off" red
80 S_8_2 : body "bodies/square.off" red
81 S_8_3 : body "bodies/square.off" red
82 S_8_4 : body "bodies/square.off" red
83 S_8_5 : body "bodies/square.off" red
84 S_8_6 : body "bodies/square.off" red
85 S_8_7 : body "bodies/square.off" red
86 S_8_8 : body "bodies/square.off" red
87 S_8_9 : body "bodies/square.off" red
88 
89 S_9_1 : body "bodies/square.off" red
90 S_9_2 : body "bodies/square.off" red
91 S_9_3 : body "bodies/square.off" red
92 S_9_4 : body "bodies/square.off" red
93 S_9_5 : body "bodies/square.off" red
94 S_9_6 : body "bodies/square.off" red
95 S_9_7 : body "bodies/square.off" red
96 S_9_8 : body "bodies/square.off" red
97 S_9_9 : body "bodies/square.off" red
98 
99 [JOINTS]
100 
101 revolute : S_1_1 0+(0,1,0)
102  S_1_2 2+(0,1,0)
103 revolute : S_1_2 0+(0,1,0)
104  S_1_3 2+(0,1,0)
105 revolute : S_1_3 0+(0,1,0)
106  S_1_4 2+(0,1,0)
107 revolute : S_1_4 0+(0,1,0)
108  S_1_5 2+(0,1,0)
109 revolute : S_1_5 0+(0,1,0)
110  S_1_6 2+(0,1,0)
111 revolute : S_1_6 0+(0,1,0)
112  S_1_7 2+(0,1,0)
113 revolute : S_1_7 0+(0,1,0)
114  S_1_8 2+(0,1,0)
115 revolute : S_1_8 0+(0,1,0)
116  S_1_9 2+(0,1,0)
117 
118 revolute : S_2_1 0+(0,1,0)
119  S_2_2 2+(0,1,0)
120 revolute : S_2_2 0+(0,1,0)
121  S_2_3 2+(0,1,0)
122 revolute : S_2_3 0+(0,1,0)
123  S_2_4 2+(0,1,0)
124 revolute : S_2_4 0+(0,1,0)
125  S_2_5 2+(0,1,0)
126 revolute : S_2_5 0+(0,1,0)
127  S_2_6 2+(0,1,0)
128 revolute : S_2_6 0+(0,1,0)
129  S_2_7 2+(0,1,0)
130 revolute : S_2_7 0+(0,1,0)
131  S_2_8 2+(0,1,0)
132 revolute : S_2_8 0+(0,1,0)
133  S_2_9 2+(0,1,0)
134 
135 revolute : S_3_1 0+(0,1,0)
136  S_3_2 2+(0,1,0)
137 revolute : S_3_2 0+(0,1,0)
138  S_3_3 2+(0,1,0)
139 revolute : S_3_3 0+(0,1,0)
140  S_3_4 2+(0,1,0)
141 revolute : S_3_4 0+(0,1,0)
142  S_3_5 2+(0,1,0)
143 revolute : S_3_5 0+(0,1,0)
144  S_3_6 2+(0,1,0)
145 revolute : S_3_6 0+(0,1,0)
146  S_3_7 2+(0,1,0)
147 revolute : S_3_7 0+(0,1,0)
148  S_3_8 2+(0,1,0)
149 revolute : S_3_8 0+(0,1,0)
150  S_3_9 2+(0,1,0)
151 
152 revolute : S_4_1 0+(0,1,0)
153  S_4_2 2+(0,1,0)
154 revolute : S_4_2 0+(0,1,0)
155  S_4_3 2+(0,1,0)
156 revolute : S_4_3 0+(0,1,0)
157  S_4_4 2+(0,1,0)
158 revolute : S_4_4 0+(0,1,0)
159  S_4_5 2+(0,1,0)
160 revolute : S_4_5 0+(0,1,0)
161  S_4_6 2+(0,1,0)
162 revolute : S_4_6 0+(0,1,0)
163  S_4_7 2+(0,1,0)
164 revolute : S_4_7 0+(0,1,0)
165  S_4_8 2+(0,1,0)
166 revolute : S_4_8 0+(0,1,0)
167  S_4_9 2+(0,1,0)
168 
169 revolute : S_5_1 0+(0,1,0)
170  S_5_2 2+(0,1,0)
171 revolute : S_5_2 0+(0,1,0)
172  S_5_3 2+(0,1,0)
173 revolute : S_5_3 0+(0,1,0)
174  S_5_4 2+(0,1,0)
175 revolute : S_5_4 0+(0,1,0)
176  S_5_5 2+(0,1,0)
177 revolute : S_5_5 0+(0,1,0)
178  S_5_6 2+(0,1,0)
179 revolute : S_5_6 0+(0,1,0)
180  S_5_7 2+(0,1,0)
181 revolute : S_5_7 0+(0,1,0)
182  S_5_8 2+(0,1,0)
183 revolute : S_5_8 0+(0,1,0)
184  S_5_9 2+(0,1,0)
185 
186 revolute : S_6_1 0+(0,1,0)
187  S_6_2 2+(0,1,0)
188 revolute : S_6_2 0+(0,1,0)
189  S_6_3 2+(0,1,0)
190 revolute : S_6_3 0+(0,1,0)
191  S_6_4 2+(0,1,0)
192 revolute : S_6_4 0+(0,1,0)
193  S_6_5 2+(0,1,0)
194 revolute : S_6_5 0+(0,1,0)
195  S_6_6 2+(0,1,0)
196 revolute : S_6_6 0+(0,1,0)
197  S_6_7 2+(0,1,0)
198 revolute : S_6_7 0+(0,1,0)
199  S_6_8 2+(0,1,0)
200 revolute : S_6_8 0+(0,1,0)
201  S_6_9 2+(0,1,0)
202 
203 revolute : S_7_1 0+(0,1,0)
204  S_7_2 2+(0,1,0)
205 revolute : S_7_2 0+(0,1,0)
206  S_7_3 2+(0,1,0)
207 revolute : S_7_3 0+(0,1,0)
208  S_7_4 2+(0,1,0)
209 revolute : S_7_4 0+(0,1,0)
210  S_7_5 2+(0,1,0)
211 revolute : S_7_5 0+(0,1,0)
212  S_7_6 2+(0,1,0)
213 revolute : S_7_6 0+(0,1,0)
214  S_7_7 2+(0,1,0)
215 revolute : S_7_7 0+(0,1,0)
216  S_7_8 2+(0,1,0)
217 revolute : S_7_8 0+(0,1,0)
218  S_7_9 2+(0,1,0)
219 
220 revolute : S_8_1 0+(0,1,0)
221  S_8_2 2+(0,1,0)
222 revolute : S_8_2 0+(0,1,0)
223  S_8_3 2+(0,1,0)
224 revolute : S_8_3 0+(0,1,0)
225  S_8_4 2+(0,1,0)
226 revolute : S_8_4 0+(0,1,0)
227  S_8_5 2+(0,1,0)
228 revolute : S_8_5 0+(0,1,0)
229  S_8_6 2+(0,1,0)
230 revolute : S_8_6 0+(0,1,0)
231  S_8_7 2+(0,1,0)
232 revolute : S_8_7 0+(0,1,0)
233  S_8_8 2+(0,1,0)
234 revolute : S_8_8 0+(0,1,0)
235  S_8_9 2+(0,1,0)
236 
237 revolute : S_9_1 0+(0,1,0)
238  S_9_2 2+(0,1,0)
239 revolute : S_9_2 0+(0,1,0)
240  S_9_3 2+(0,1,0)
241 revolute : S_9_3 0+(0,1,0)
242  S_9_4 2+(0,1,0)
243 revolute : S_9_4 0+(0,1,0)
244  S_9_5 2+(0,1,0)
245 revolute : S_9_5 0+(0,1,0)
246  S_9_6 2+(0,1,0)
247 revolute : S_9_6 0+(0,1,0)
248  S_9_7 2+(0,1,0)
249 revolute : S_9_7 0+(0,1,0)
250  S_9_8 2+(0,1,0)
251 revolute : S_9_8 0+(0,1,0)
252  S_9_9 2+(0,1,0)
253 
254 
255 revolute : S_1_1 3+(0,1,0)
256  S_2_1 1+(0,1,0)
257 revolute : S_1_2 3+(0,1,0)
258  S_2_2 1+(0,1,0)
259 revolute : S_1_3 3+(0,1,0)
260  S_2_3 1+(0,1,0)
261 revolute : S_1_4 3+(0,1,0)
262  S_2_4 1+(0,1,0)
263 revolute : S_1_5 3+(0,1,0)
264  S_2_5 1+(0,1,0)
265 revolute : S_1_6 3+(0,1,0)
266  S_2_6 1+(0,1,0)
267 revolute : S_1_7 3+(0,1,0)
268  S_2_7 1+(0,1,0)
269 revolute : S_1_8 3+(0,1,0)
270  S_2_8 1+(0,1,0)
271 revolute : S_1_9 3+(0,1,0)
272  S_2_9 1+(0,1,0)
273 
274 revolute : S_2_1 3+(0,1,0)
275  S_3_1 1+(0,1,0)
276 revolute : S_2_2 3+(0,1,0)
277  S_3_2 1+(0,1,0)
278 revolute : S_2_3 3+(0,1,0)
279  S_3_3 1+(0,1,0)
280 revolute : S_2_4 3+(0,1,0)
281  S_3_4 1+(0,1,0)
282 revolute : S_2_5 3+(0,1,0)
283  S_3_5 1+(0,1,0)
284 revolute : S_2_6 3+(0,1,0)
285  S_3_6 1+(0,1,0)
286 revolute : S_2_7 3+(0,1,0)
287  S_3_7 1+(0,1,0)
288 revolute : S_2_8 3+(0,1,0)
289  S_3_8 1+(0,1,0)
290 revolute : S_2_9 3+(0,1,0)
291  S_3_9 1+(0,1,0)
292 
293 revolute : S_3_1 3+(0,1,0)
294  S_4_1 1+(0,1,0)
295 revolute : S_3_2 3+(0,1,0)
296  S_4_2 1+(0,1,0)
297 revolute : S_3_3 3+(0,1,0)
298  S_4_3 1+(0,1,0)
299 revolute : S_3_4 3+(0,1,0)
300  S_4_4 1+(0,1,0)
301 revolute : S_3_5 3+(0,1,0)
302  S_4_5 1+(0,1,0)
303 revolute : S_3_6 3+(0,1,0)
304  S_4_6 1+(0,1,0)
305 revolute : S_3_7 3+(0,1,0)
306  S_4_7 1+(0,1,0)
307 revolute : S_3_8 3+(0,1,0)
308  S_4_8 1+(0,1,0)
309 revolute : S_3_9 3+(0,1,0)
310  S_4_9 1+(0,1,0)
311 
312 revolute : S_4_1 3+(0,1,0)
313  S_5_1 1+(0,1,0)
314 revolute : S_4_2 3+(0,1,0)
315  S_5_2 1+(0,1,0)
316 revolute : S_4_3 3+(0,1,0)
317  S_5_3 1+(0,1,0)
318 revolute : S_4_4 3+(0,1,0)
319  S_5_4 1+(0,1,0)
320 revolute : S_4_5 3+(0,1,0)
321  S_5_5 1+(0,1,0)
322 revolute : S_4_6 3+(0,1,0)
323  S_5_6 1+(0,1,0)
324 revolute : S_4_7 3+(0,1,0)
325  S_5_7 1+(0,1,0)
326 revolute : S_4_8 3+(0,1,0)
327  S_5_8 1+(0,1,0)
328 revolute : S_4_9 3+(0,1,0)
329  S_5_9 1+(0,1,0)
330 
331 revolute : S_5_1 3+(0,1,0)
332  S_6_1 1+(0,1,0)
333 revolute : S_5_2 3+(0,1,0)
334  S_6_2 1+(0,1,0)
335 revolute : S_5_3 3+(0,1,0)
336  S_6_3 1+(0,1,0)
337 revolute : S_5_4 3+(0,1,0)
338  S_6_4 1+(0,1,0)
339 revolute : S_5_5 3+(0,1,0)
340  S_6_5 1+(0,1,0)
341 revolute : S_5_6 3+(0,1,0)
342  S_6_6 1+(0,1,0)
343 revolute : S_5_7 3+(0,1,0)
344  S_6_7 1+(0,1,0)
345 revolute : S_5_8 3+(0,1,0)
346  S_6_8 1+(0,1,0)
347 revolute : S_5_9 3+(0,1,0)
348  S_6_9 1+(0,1,0)
349 
350 revolute : S_6_1 3+(0,1,0)
351  S_7_1 1+(0,1,0)
352 revolute : S_6_2 3+(0,1,0)
353  S_7_2 1+(0,1,0)
354 revolute : S_6_3 3+(0,1,0)
355  S_7_3 1+(0,1,0)
356 revolute : S_6_4 3+(0,1,0)
357  S_7_4 1+(0,1,0)
358 revolute : S_6_5 3+(0,1,0)
359  S_7_5 1+(0,1,0)
360 revolute : S_6_6 3+(0,1,0)
361  S_7_6 1+(0,1,0)
362 revolute : S_6_7 3+(0,1,0)
363  S_7_7 1+(0,1,0)
364 revolute : S_6_8 3+(0,1,0)
365  S_7_8 1+(0,1,0)
366 revolute : S_6_9 3+(0,1,0)
367  S_7_9 1+(0,1,0)
368 
369 revolute : S_7_1 3+(0,1,0)
370  S_8_1 1+(0,1,0)
371 revolute : S_7_2 3+(0,1,0)
372  S_8_2 1+(0,1,0)
373 revolute : S_7_3 3+(0,1,0)
374  S_8_3 1+(0,1,0)
375 revolute : S_7_4 3+(0,1,0)
376  S_8_4 1+(0,1,0)
377 revolute : S_7_5 3+(0,1,0)
378  S_8_5 1+(0,1,0)
379 revolute : S_7_6 3+(0,1,0)
380  S_8_6 1+(0,1,0)
381 revolute : S_7_7 3+(0,1,0)
382  S_8_7 1+(0,1,0)
383 revolute : S_7_8 3+(0,1,0)
384  S_8_8 1+(0,1,0)
385 revolute : S_7_9 3+(0,1,0)
386  S_8_9 1+(0,1,0)
387 
388 revolute : S_8_1 3+(0,1,0)
389  S_9_1 1+(0,1,0)
390 revolute : S_8_2 3+(0,1,0)
391  S_9_2 1+(0,1,0)
392 revolute : S_8_3 3+(0,1,0)
393  S_9_3 1+(0,1,0)
394 revolute : S_8_4 3+(0,1,0)
395  S_9_4 1+(0,1,0)
396 revolute : S_8_5 3+(0,1,0)
397  S_9_5 1+(0,1,0)
398 revolute : S_8_6 3+(0,1,0)
399  S_9_6 1+(0,1,0)
400 revolute : S_8_7 3+(0,1,0)
401  S_9_7 1+(0,1,0)
402 revolute : S_8_8 3+(0,1,0)
403  S_9_8 1+(0,1,0)
404 revolute : S_8_9 3+(0,1,0)
405  S_9_9 1+(0,1,0)
406