<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="BODY1" pos="0 0 0" euler="0 0 0">
        <inertial pos="0 0 0" mass="1.595" />
         <geom name="GEOM1" type="sphere" pos="0 0 0" material="JointColor" size="0.0294" mass="2" />
         <joint name="shoulderFlexExt" ref="0" type="hinge" stiffness="0" pos = "0 0 0" axis = "0 1 0" />-->
         <body name="BODY2" pos="0 0 0" euler="0 0 0">
    				<site name='forForceSensorSite' pos='0 0 0' />   <!-- Attaching force sensor -->
            <geom name="GEOM2" type="sphere" pos="0 0 -1" material="JointColor" size="0.0294" mass="2" />
         </body>
      </body>

   </worldbody>

   <sensor>
       <force name = 'wristForceSensorSite' site = 'forForceSensorSite' />
   </sensor>   

</mujoco>
