<mujoco model="2D_UpperLimb">
  <compiler inertiafromgeom="auto" angle="radian" />
   <option timestep="0.0001" iterations="50" solver="PGS" integrator="Euler" gravity="0 0 0" collision="predefined">
     <flag energy="enable" />
   </option>
   <asset>
     <texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="100" height="100" />
      <material name="JointColor" rgba="1.0 1.0 0.0 1" />
      <material name="LimbColor" rgba="0.7 0.7 0.7 1" />
   </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="root" pos="0 0 0" euler="0 0 0">
        <joint ref="0" type="slide" name="sender" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
         <geom type="box" name="mass1" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
         <body name="node2" euler="0 0 0" pos=" 0.0050 0 0">
           <joint ref="0" type="slide" name="spring2" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
            <geom type="box" name="mass2" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
            <body name="node3" euler="0 0 0" pos=" 0.0050 0 0">
              <joint ref="0" type="slide" name="spring3" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
               <geom type="box" name="mass3" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
               <body name="node4" euler="0 0 0" pos=" 0.0050 0 0">
                 <joint ref="0" type="slide" name="spring4" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                  <geom type="box" name="mass4" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                  <body name="node5" euler="0 0 0" pos=" 0.0050 0 0">
                    <joint ref="0" type="slide" name="spring5" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                     <geom type="box" name="mass5" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                     <body name="node6" euler="0 0 0" pos=" 0.0050 0 0">
                       <joint ref="0" type="slide" name="spring6" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                        <geom type="box" name="mass6" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                        <body name="node7" euler="0 0 0" pos=" 0.0050 0 0">
                          <joint ref="0" type="slide" name="spring7" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                           <geom type="box" name="mass7" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                           <body name="node8" euler="0 0 0" pos=" 0.0050 0 0">
                             <joint ref="0" type="slide" name="spring8" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                              <geom type="box" name="mass8" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                              <body name="node9" euler="0 0 0" pos=" 0.0050 0 0">
                                <joint ref="0" type="slide" name="spring9" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                 <geom type="box" name="mass9" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                 <body name="node10" euler="0 0 0" pos=" 0.0050 0 0">
                                   <joint ref="0" type="slide" name="spring10" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                    <geom type="box" name="mass10" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                    <body name="node11" euler="0 0 0" pos=" 0.0050 0 0">
                                      <joint ref="0" type="slide" name="spring11" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                       <geom type="box" name="mass11" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                       <body name="node12" euler="0 0 0" pos=" 0.0050 0 0">
                                         <joint ref="0" type="slide" name="spring12" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                          <geom type="box" name="mass12" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                          <body name="node13" euler="0 0 0" pos=" 0.0050 0 0">
                                            <joint ref="0" type="slide" name="spring13" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                             <geom type="box" name="mass13" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                             <body name="node14" euler="0 0 0" pos=" 0.0050 0 0">
                                               <joint ref="0" type="slide" name="spring14" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                <geom type="box" name="mass14" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                <body name="node15" euler="0 0 0" pos=" 0.0050 0 0">
                                                  <joint ref="0" type="slide" name="spring15" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                   <geom type="box" name="mass15" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                   <body name="node16" euler="0 0 0" pos=" 0.0050 0 0">
                                                     <joint ref="0" type="slide" name="spring16" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                      <geom type="box" name="mass16" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                      <body name="node17" euler="0 0 0" pos=" 0.0050 0 0">
                                                        <joint ref="0" type="slide" name="spring17" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                         <geom type="box" name="mass17" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                         <body name="node18" euler="0 0 0" pos=" 0.0050 0 0">
                                                           <joint ref="0" type="slide" name="spring18" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                            <geom type="box" name="mass18" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                            <body name="node19" euler="0 0 0" pos=" 0.0050 0 0">
                                                              <joint ref="0" type="slide" name="spring19" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                               <geom type="box" name="mass19" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                               <body name="node20" euler="0 0 0" pos=" 0.0050 0 0">
                                                                 <joint ref="0" type="slide" name="spring20" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                  <geom type="box" name="mass20" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                  <body name="node21" euler="0 0 0" pos=" 0.0050 0 0">
                                                                    <joint ref="0" type="slide" name="spring21" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                     <geom type="box" name="mass21" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                     <body name="node22" euler="0 0 0" pos=" 0.0050 0 0">
                                                                       <joint ref="0" type="slide" name="spring22" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                        <geom type="box" name="mass22" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                        <body name="node23" euler="0 0 0" pos=" 0.0050 0 0">
                                                                          <joint ref="0" type="slide" name="spring23" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                           <geom type="box" name="mass23" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                           <body name="node24" euler="0 0 0" pos=" 0.0050 0 0">
                                                                             <joint ref="0" type="slide" name="spring24" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                              <geom type="box" name="mass24" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                              <body name="node25" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                <joint ref="0" type="slide" name="spring25" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                 <geom type="box" name="mass25" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                 <body name="node26" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                   <joint ref="0" type="slide" name="spring26" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                    <geom type="box" name="mass26" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                    <body name="node27" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                      <joint ref="0" type="slide" name="spring27" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                       <geom type="box" name="mass27" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                       <body name="node28" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                         <joint ref="0" type="slide" name="spring28" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                          <geom type="box" name="mass28" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                          <body name="node29" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                            <joint ref="0" type="slide" name="spring29" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                             <geom type="box" name="mass29" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                             <body name="node30" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                               <joint ref="0" type="slide" name="spring30" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                <geom type="box" name="mass30" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                <body name="node31" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                  <joint ref="0" type="slide" name="spring31" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                   <geom type="box" name="mass31" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                   <body name="node32" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                     <joint ref="0" type="slide" name="spring32" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                      <geom type="box" name="mass32" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                      <body name="node33" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                        <joint ref="0" type="slide" name="spring33" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                         <geom type="box" name="mass33" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                         <body name="node34" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                           <joint ref="0" type="slide" name="spring34" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                            <geom type="box" name="mass34" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                            <body name="node35" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                              <joint ref="0" type="slide" name="spring35" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                               <geom type="box" name="mass35" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                               <body name="node36" euler="0 0 0" pos=" 0.0050 0 0">
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                                                                                                                  <geom type="box" name="mass36" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                  <body name="node37" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                    <joint ref="0" type="slide" name="spring37" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                     <geom type="box" name="mass37" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                     <body name="node38" euler="0 0 0" pos=" 0.0050 0 0">
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                                                                                                                           <body name="node40" euler="0 0 0" pos=" 0.0050 0 0">
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                                                                                                                                       <body name="node44" euler="0 0 0" pos=" 0.0050 0 0">
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                                                                                                                                                                                                            <geom type="box" name="mass66" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                              <joint ref="0" type="slide" name="spring67" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                               <geom type="box" name="mass67" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                 <joint ref="0" type="slide" name="spring68" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                  <geom type="box" name="mass68" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                     <geom type="box" name="mass69" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                        <geom type="box" name="mass70" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                          <joint ref="0" type="slide" name="spring71" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                           <geom type="box" name="mass71" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                             <joint ref="0" type="slide" name="spring72" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                              <geom type="box" name="mass72" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                  <joint ref="0" type="slide" name="spring79" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                   <geom type="box" name="mass79" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                     <joint ref="0" type="slide" name="spring80" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                      <geom type="box" name="mass80" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                      <body name="node81" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                        <joint ref="0" type="slide" name="spring81" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                         <geom type="box" name="mass81" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                           <joint ref="0" type="slide" name="spring82" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                            <geom type="box" name="mass82" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                              <joint ref="0" type="slide" name="spring83" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                               <geom type="box" name="mass83" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                 <joint ref="0" type="slide" name="spring84" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                  <geom type="box" name="mass84" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                    <joint ref="0" type="slide" name="spring85" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                     <geom type="box" name="mass85" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                       <joint ref="0" type="slide" name="spring86" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                        <geom type="box" name="mass86" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                          <joint ref="0" type="slide" name="spring87" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                           <geom type="box" name="mass87" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                              <geom type="box" name="mass88" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                              <body name="node89" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                <joint ref="0" type="slide" name="spring89" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                 <geom type="box" name="mass89" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                 <body name="node90" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                   <joint ref="0" type="slide" name="spring90" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                    <geom type="box" name="mass90" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                    <body name="node91" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                      <joint ref="0" type="slide" name="spring91" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                       <geom type="box" name="mass91" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                                         <joint ref="0" type="slide" name="spring92" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                          <geom type="box" name="mass92" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
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                                                                                                                                                                                                                                                                                            <joint ref="0" type="slide" name="spring93" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                             <geom type="box" name="mass93" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                             <body name="node94" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                               <joint ref="0" type="slide" name="spring94" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                <geom type="box" name="mass94" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                <body name="node95" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                                  <joint ref="0" type="slide" name="spring95" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                   <geom type="box" name="mass95" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                   <body name="node96" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                                     <joint ref="0" type="slide" name="spring96" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                      <geom type="box" name="mass96" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                      <body name="node97" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                                        <joint ref="0" type="slide" name="spring97" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                         <geom type="box" name="mass97" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                         <body name="node98" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                                           <joint ref="0" type="slide" name="spring98" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                            <geom type="box" name="mass98" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                            <body name="node99" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                                              <joint ref="0" type="slide" name="spring99" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                               <geom type="box" name="mass99" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                               <body name="node100" euler="0 0 0" pos=" 0.0050 0 0">
                                                                                                                                                                                                                                                                                                                 <joint ref="0" type="slide" name="spring100" stiffness="1000" pos=" 0.0000 0 0" axis="1 0 0" />
                                                                                                                                                                                                                                                                                                                  <geom type="box" name="tip" mass="0.1" pos=" 0.0000 0 0" material="JointColor" size=" 0.0010 0.0010 0.0010" />
                                                                                                                                                                                                                                                                                                               </body>
                                                                                                                                                                                                                                                                                                            </body>
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   <actuator>
     <motor joint="sender" name="sender_actuator" forcelimited="false" />
   </actuator>
</mujoco>
