<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 1 1" rgb2="1 1 1" width="200" height="200"  />
     <!-- Joint and Limb Color -->
		 <material name="JointColor" 		 rgba="0.1 0.1 0.1 1" />
		 <material name="LimbColor" 		 rgba="0.1 0.1 0.1 1" />
		 <material name="pointMassColor" rgba="0.75 0.0 0.75 1" />
		 <!-- <material name="pointMassColor" rgba="0 0.4470 0.7410 1" /> -->
		 <material name="RefMassColor" 	 rgba="0.2 0.9 0.1 1.0" />

  </asset>

	<!-- Excluding the 5 bodies from the tip of the whip for target contact -->
	<!-- <contact>
		<exclude body1="body_node21" body2="body_target"/>
		<exclude body1="body_node22" body2="body_target"/>
		<exclude body1="body_node23" body2="body_target"/>
		<exclude body1="body_node24" body2="body_target"/>
		<exclude body1="body_node25" body2="body_target"/>
	</contact> -->

	<visual>
		<global glow="1.0" fovy="45" ipd="0.0"/>
		<headlight specular="0.0 0.0 0.0" diffuse="1.0 1.0 1.0"/>
	</visual>

   <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="body_upper_arm" 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="geom_shoulder" type="sphere" pos="0 0 0" material="JointColor" size="0.0294" mass="0" />
         <joint name="joint_shoulder_flex_ext" ref="0" type="hinge" stiffness="0" pos = "0 0 0" axis = "0 -1 0" />
         <joint name='joint_shoulder_add_abd' ref='0'  type='hinge' stiffness='0' pos='0 0 0' axis='-1 0 0' />
         <joint name='joint_shoulder_med_lat' ref='0'  type='hinge' stiffness='0' pos='0 0 0' axis=' 0 0 1' />
         <site name="site_upper_arm_COM" 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="body_fore_arm" 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="geom_elbow" type="sphere" pos="0 0 0" material="JointColor" size="0.0294" mass="0" />
            <joint name="joint_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="site_fore_arm_COM" pos="0 0 -0.112" />
            <geom name="geom_end_effector" type="sphere" pos="0 0 -0.291" material="JointColor" size="0.0294" mass="0" />
            <body name="body_node1" euler="0 0 0" pos="0 0 -0.291">
    					<!-- <site name='site_for_force_sensor_0' pos='0 0 0' /> -->   <!-- Attaching force  sensor -->
              <!-- <joint name="joint_node1_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="1.82" damping="0.0900" /> -->
               <!-- <joint name="joint_node1_Y" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="1.21" damping="0.0610" /> -->
			<joint name="joint_node1_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0" damping="0" />
                <joint name="joint_node1_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
               <geom name="geom_1" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
               <body name="body_node2" euler="0 0 0" pos="0 0 -0.0720">
                 <joint name="joint_node2_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                  <joint name="joint_node2_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                  <geom name="geom_2" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                  <body name="body_node3" euler="0 0 0" pos="0 0 -0.0720">
                    <joint name="joint_node3_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                     <joint name="joint_node3_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                     <geom name="geom_3" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                     <body name="body_node4" euler="0 0 0" pos="0 0 -0.0720">
                       <joint name="joint_node4_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                        <joint name="joint_node4_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                        <geom name="geom_4" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                        <body name="body_node5" euler="0 0 0" pos="0 0 -0.0720">
                          <joint name="joint_node5_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                           <joint name="joint_node5_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                           <geom name="geom_5" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                           <body name="body_node6" euler="0 0 0" pos="0 0 -0.0720">
                             <joint name="joint_node6_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                              <joint name="joint_node6_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                              <geom name="geom_6" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                              <body name="body_node7" euler="0 0 0" pos="0 0 -0.0720">
                                <joint name="joint_node7_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                 <joint name="joint_node7_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                 <geom name="geom_7" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                 <body name="body_node8" euler="0 0 0" pos="0 0 -0.0720">
                                   <joint name="joint_node8_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                    <joint name="joint_node8_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                    <geom name="geom_8" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                    <body name="body_node9" euler="0 0 0" pos="0 0 -0.0720">
                                      <joint name="joint_node9_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                       <joint name="joint_node9_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                       <geom name="geom_9" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                       <body name="body_node10" euler="0 0 0" pos="0 0 -0.0720">
                                         <joint name="joint_node10_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                          <joint name="joint_node10_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                          <geom name="geom_10" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                          <body name="body_node11" euler="0 0 0" pos="0 0 -0.0720">
                                            <joint name="joint_node11_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                             <joint name="joint_node11_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                             <geom name="geom_11" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                             <body name="body_node12" euler="0 0 0" pos="0 0 -0.0720">
                                               <joint name="joint_node12_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                <joint name="joint_node12_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                <geom name="geom_12" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                <body name="body_node13" euler="0 0 0" pos="0 0 -0.0720">
                                                  <joint name="joint_node13_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                   <joint name="joint_node13_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                   <geom name="geom_13" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                   <body name="body_node14" euler="0 0 0" pos="0 0 -0.0720">
                                                     <joint name="joint_node14_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                      <joint name="joint_node14_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                      <geom name="geom_14" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                      <body name="body_node15" euler="0 0 0" pos="0 0 -0.0720">
                                                        <joint name="joint_node15_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                         <joint name="joint_node15_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                         <geom name="geom_15" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                         <body name="body_node16" euler="0 0 0" pos="0 0 -0.0720">
                                                           <joint name="joint_node16_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                            <joint name="joint_node16_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                            <geom name="geom_16" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                            <body name="body_node17" euler="0 0 0" pos="0 0 -0.0720">
                                                              <joint name="joint_node17_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                               <joint name="joint_node17_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                               <geom name="geom_17" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                               <body name="body_node18" euler="0 0 0" pos="0 0 -0.0720">
                                                                 <joint name="joint_node18_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                  <joint name="joint_node18_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                  <geom name="geom_18" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                  <body name="body_node19" euler="0 0 0" pos="0 0 -0.0720">
                                                                    <joint name="joint_node19_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                     <joint name="joint_node19_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                     <geom name="geom_19" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                     <body name="body_node20" euler="0 0 0" pos="0 0 -0.0720">
                                                                       <joint name="joint_node20_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                        <joint name="joint_node20_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                        <geom name="geom_20" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                        <body name="body_node21" euler="0 0 0" pos="0 0 -0.0720">
                                                                          <joint name="joint_node21_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                           <joint name="joint_node21_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                           <geom name="geom_21" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                           <body name="body_node22" euler="0 0 0" pos="0 0 -0.0720">
                                                                             <joint name="joint_node22_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                              <joint name="joint_node22_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                              <geom name="geom_22" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                              <body name="body_node23" euler="0 0 0" pos="0 0 -0.0720">
                                                                                <joint name="joint_node23_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                 <joint name="joint_node23_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                                 <geom name="geom_23" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                                 <body name="body_node24" euler="0 0 0" pos="0 0 -0.0720">
                                                                                   <joint name="joint_node24_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                    <joint name="joint_node24_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                                    <geom name="geom_24" type="sphere" material="pointMassColor" pos="0 0 -0.0720" size="0.0120000" mass="0.0120000" />
                                                                                    <body name="body_node25" euler="0 0 0" pos="0 0 -0.0720">
                                                                                      <joint name="joint_node25_X" type="hinge" axis="1 0 0" pos="0 0 0" springref="0" stiffness="0.242" damping="0.092" />
                                                                                       <joint name="joint_node25_Y" 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" material="LimbColor" size="0.0060000" mass="0" />
                                                                                       <geom name="geom_25_tip" 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="geom_target" type="sphere" pos="2.395 0 0" rgba="1 0 0 1" mass="0" size="0.03"  />

   </worldbody>

   <!-- BACKUP-->
    <!-- <sensor>
  			<force  name = 'force_sensor_wrist'  site = 'site_for_force_sensor_0' />
				<torque name = 'torque_sensor_wrist' site = 'site_for_force_sensor_0' />
  	</sensor> -->


   <actuator>
      <motor joint="joint_shoulder_flex_ext" name="motor_shoulder_flex_ext" forcelimited="false" />
      <motor joint="joint_shoulder_add_abd"  name="motor_shoulder_add_abd"  forcelimited="false" />
      <motor joint="joint_shoulder_med_lat"  name="motor_shoulder_med_lat"  forcelimited="false" />
      <motor joint="joint_elbow" 						 name="motor_elbow" 						forcelimited="false" />
   </actuator>
</mujoco>
