Chess board mapping and moves

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Trying to map a chessboard for piece movement using a robot arm.

I have an arm and a chess board plane loaded into my world space.

I have a py file form arm motion for the arm in Gazebo to a set of coordinates. I'm trying to understand what would the best way I can map each square's coordinates from the chess board and pipe it to the py file. Then translate a full chess game to simulate in the framework.

Please advise.

"version kinetic"