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<geom name="floor" type="plane" size="1 1 0.1" contype="0" conaffinity="0" group="1"/>
</worldbody>
<equality><connect name="chain_eyeA" body1="chain_l000" body2="barrel" anchor="0 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="chain_eyeB" body1="chain_l119" body2="fusee" anchor="0.006567753023 0 0" solref="0.0002 1" solimp="0.99 0.999 0.0001"/><connect name="chain_pin0" body1="chain_l011" body2="chain_l012" anchor="0.006571164368 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin1" body1="chain_l023" body2="chain_l024" anchor="0.006569129708 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin2" body1="chain_l035" body2="chain_l036" anchor="0.006578015214 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin3" body1="chain_l047" body2="chain_l048" anchor="0.006549363851 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin4" body1="chain_l059" body2="chain_l060" anchor="0.006555934611 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin5" body1="chain_l071" body2="chain_l072" anchor="0.006560093389 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin6" body1="chain_l083" body2="chain_l084" anchor="0.006562858683 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin7" body1="chain_l095" body2="chain_l096" anchor="0.006564894143 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/><connect name="chain_pin8" body1="chain_l107" body2="chain_l108" anchor="0.006566508333 0 0" solref="-300000 -8" solimp="0.95 0.99 0.001"/></equality>
<contact><exclude body1="chain_l000" body2="barrel"/><exclude body1="chain_l119" body2="fusee"/><exclude body1="chain_l011" body2="chain_l012"/><exclude body1="chain_l023" body2="chain_l024"/><exclude body1="chain_l035" body2="chain_l036"/><exclude body1="chain_l047" body2="chain_l048"/><exclude body1="chain_l059" body2="chain_l060"/><exclude body1="chain_l071" body2="chain_l072"/><exclude body1="chain_l083" body2="chain_l084"/><exclude body1="chain_l095" body2="chain_l096"/><exclude body1="chain_l107" body2="chain_l108"/><exclude body1="chain_l000" body2="box_w"/><exclude body1="chain_l119" body2="cone_w"/></contact>
<actuator><motor name="drive" joint="j_b" gear="1" ctrlrange="-0.8 0.8"/></actuator>
</mujoco>
