<mujoco model="1_3D_model_w_N25">
  <compiler inertiafromgeom="auto" angle="radian" />
   <option timestep="0.0001" iterations="50" solver="PGS" integrator="Euler" gravity="0 0 -9.81" collision="all">
     <flag energy="enable" />
   </option>
   <asset>
     <texture type="skybox" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="200" height="200" mark="edge" />
      <material name="JointColor" rgba="1.0 1.0 0.0 1" />
      <material name="LimbColor" rgba="0.7 0.7 0.7 1" />
      <!-- <material name="pointMassColor" rgba="1.0 1.0 1.0 1.0" /> -->
      <material name="pointMassColor" rgba="1.0 1.0 0.0 1" />
      <material name="RefMassColor" rgba="0.2 0.9 0.1 1.0" />
   </asset>
   <worldbody>
     <body name="cameramover" mocap="true" pos="0 0 0">
        <camera name="mycamera" pos="0.0 2.0 2.0" euler="1.5707 0 0" />
      </body>
      <body name="upperArm" pos="0 0 0" euler="0 0 0">
        <inertial pos="0 0 -0.129" mass="1.595" diaginertia="0.011917 0.011937 0.001325" />
         <geom name="shoulderGEOM" type="sphere" pos="0 0 0" material="JointColor" size="0.0294" mass="0" />
         <joint name="shoulderFlexExt" ref="0" type="hinge" stiffness="0" pos = "0 0 0" axis = "0 -1 0" />
         <joint name='shoulderAddAbd' ref='0'  type='hinge' stiffness='0' pos='0 0 0' axis='-1 0 0' />
         <joint name='shoulderMedLat' ref='0'  type='hinge' stiffness='0' pos='0 0 0' axis=' 0 0 1' />
         <site name="upperArmCOM" pos="0 0 -0.129" />
         <geom type="cylinder" fromto="0 0 0 0 0 -0.294" material="LimbColor" mass="0" size="0.0147" />
         <body name="foreArm" pos="0 0 -0.294" euler="0 0 0">
           <inertial pos="0 0 -0.112" mass="0.869" diaginertia="0.004765 0.004855 0.000472" />
            <geom name="elbowGEOM" type="sphere" pos="0 0 0" material="JointColor" size="0.0294" mass="0" />
            <joint name="elbow" ref="0" type="hinge" stiffness="0" pos="0 0 0" axis="0 -1 0" />
            <geom type="cylinder" fromto="0 0 0 0 0 -0.291" material="LimbColor" mass="0" size="0.0147" />
            <site name="foreArmCOM" pos="0 0 -0.112" />
            <geom name="geom_EE" type="sphere" pos="0 0 -0.291" material="JointColor" size="0.0294" mass="0" />
            <body name="node1" euler="0 0 0" pos="0 0 -0.291">
    					<site name='forForceSensorSite' pos='0 0 0' />   <!-- Attaching force sensor -->              
              <joint name="node1JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0" damping="0" />
               <joint name="node1JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0" damping="0" />
               <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
               <geom name="geom1" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
               <body name="node2" euler="0 0 0" pos="0 0 -0.0720">
                 <joint name="node2JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                  <joint name="node2JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                  <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                  <geom name="geom2" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                  <body name="node3" euler="0 0 0" pos="0 0 -0.0720">
                    <joint name="node3JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                     <joint name="node3JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                     <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                     <geom name="geom3" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                     <body name="node4" euler="0 0 0" pos="0 0 -0.0720">
                       <joint name="node4JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                        <joint name="node4JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                        <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                        <geom name="geom4" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                        <body name="node5" euler="0 0 0" pos="0 0 -0.0720">
                          <joint name="node5JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                           <joint name="node5JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                           <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                           <geom name="geom5" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                           <body name="node6" euler="0 0 0" pos="0 0 -0.0720">
                             <joint name="node6JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                              <joint name="node6JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                              <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                              <geom name="geom6" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                              <body name="node7" euler="0 0 0" pos="0 0 -0.0720">
                                <joint name="node7JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                 <joint name="node7JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                 <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                 <geom name="geom7" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                 <body name="node8" euler="0 0 0" pos="0 0 -0.0720">
                                   <joint name="node8JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                    <joint name="node8JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                    <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                    <geom name="geom8" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                    <body name="node9" euler="0 0 0" pos="0 0 -0.0720">
                                      <joint name="node9JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                       <joint name="node9JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                       <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                       <geom name="geom9" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                       <body name="node10" euler="0 0 0" pos="0 0 -0.0720">
                                         <joint name="node10JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                          <joint name="node10JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                          <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                          <geom name="geom10" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                          <body name="node11" euler="0 0 0" pos="0 0 -0.0720">
                                            <joint name="node11JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                             <joint name="node11JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                             <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                             <geom name="geom11" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                             <body name="node12" euler="0 0 0" pos="0 0 -0.0720">
                                               <joint name="node12JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                <joint name="node12JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                <geom name="geom12" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                <body name="node13" euler="0 0 0" pos="0 0 -0.0720">
                                                  <joint name="node13JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                   <joint name="node13JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                   <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                   <geom name="geom13" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                   <body name="node14" euler="0 0 0" pos="0 0 -0.0720">
                                                     <joint name="node14JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                      <joint name="node14JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                      <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                      <geom name="geom14" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                      <body name="node15" euler="0 0 0" pos="0 0 -0.0720">
                                                        <joint name="node15JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                         <joint name="node15JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                         <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                         <geom name="geom15" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                         <body name="node16" euler="0 0 0" pos="0 0 -0.0720">
                                                           <joint name="node16JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                            <joint name="node16JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                            <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                            <geom name="geom16" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                            <body name="node17" euler="0 0 0" pos="0 0 -0.0720">
                                                              <joint name="node17JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                               <joint name="node17JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                               <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                               <geom name="geom17" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                               <body name="node18" euler="0 0 0" pos="0 0 -0.0720">
                                                                 <joint name="node18JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                  <joint name="node18JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                  <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                  <geom name="geom18" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                  <body name="node19" euler="0 0 0" pos="0 0 -0.0720">
                                                                    <joint name="node19JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                     <joint name="node19JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                     <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                     <geom name="geom19" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                     <body name="node20" euler="0 0 0" pos="0 0 -0.0720">
                                                                       <joint name="node20JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                        <joint name="node20JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                        <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                        <geom name="geom20" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                        <body name="node21" euler="0 0 0" pos="0 0 -0.0720">
                                                                          <joint name="node21JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                           <joint name="node21JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                           <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                           <geom name="geom21" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                           <body name="node22" euler="0 0 0" pos="0 0 -0.0720">
                                                                             <joint name="node22JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                              <joint name="node22JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                              <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                              <geom name="geom22" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                              <body name="node23" euler="0 0 0" pos="0 0 -0.0720">
                                                                                <joint name="node23JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                 <joint name="node23JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                 <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                                 <geom name="geom23" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                                 <body name="node24" euler="0 0 0" pos="0 0 -0.0720">
                                                                                   <joint name="node24JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                    <joint name="node24JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                    <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                                    <geom name="geom24" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                                    <body name="node25" euler="0 0 0" pos="0 0 -0.0720">
                                                                                      <joint name="node25JointX" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                       <joint name="node25JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                       <geom type="cylinder" fromto="0 0 0 0 0 -0.0720" size="0.0060000" mass="0" />
                                                                                       <geom name="geom25Tip" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                                    </body>
                                                                                 </body>
                                                                              </body>
                                                                           </body>
                                                                        </body>
                                                                     </body>
                                                                  </body>
                                                               </body>
                                                            </body>
                                                         </body>
                                                      </body>
                                                   </body>
                                                </body>
                                             </body>
                                          </body>
                                       </body>
                                    </body>
                                 </body>
                              </body>
                           </body>
                        </body>
                     </body>
                  </body>
               </body>
            </body>
            <!-- === [ N, L, M, k, b, rho ] = [25,1.800000,0.300000,0.242000,0.092000,1.000000] -->
         </body>
      </body>
      <!-- <geom name="target" type="sphere" pos="1.1976 1.1976 1.6936" material="LimbColor" mass="0" size="0.03" /> -->
      <!-- <geom name='target' type='sphere' pos='1.69352 1.69352 0.0' material='LimbColor' mass='0' size='0.03'/> -->
      <geom name="target" type="sphere" pos="2.395 0 0" material="LimbColor" mass="0" size="0.03" />
   </worldbody>

   <!-- BACKUP-->
    <sensor>
  			<force name = 'wristForceSensorSite' site = 'forForceSensorSite' />
  	</sensor>


   <actuator>
      <motor joint="shoulderFlexExt" name="shoulderFlexExtTorqueMotor" forcelimited="false" />
      <motor joint="shoulderAddAbd" name="shoulderAddAbdTorqueMotor" forcelimited="false" />
      <motor joint="shoulderMedLat" name="shoulderMedLatTorqueMotor" forcelimited="false" />
      <motor joint="elbow" name="elbowTorqueMotor" forcelimited="false" />
   </actuator>
</mujoco>
