<mujoco model="1_2D_model_w_N10">
  <compiler inertiafromgeom="auto" angle="radian" />
   <option timestep="0.0001" iterations="50" integrator="Euler" collision="all" />
   <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 1.0" />
      <material name="LimbColor" rgba="0.7 0.7 0.7 1.0" />
      <material name="pointMassColor" rgba="1.0 1.0 1.0 1.0" />
      <material name="RefMassColor" rgba="0.2 0.9 0.1 1.0" />
   </asset>
   <worldbody>
     <body name="camera" pos="0 0 0">
        <camera name="myCamera" pos="0.7975 -3.19 -0.4785" euler="1.5707 0 0" />
      </body>
      <body name="upperArm" pos="0 0 0" euler="0 0 0">
        <joint name="shoulderJoint" ref="0" type="hinge" stiffness="0" pos="0 0 0" axis="0 -1 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" />
         <geom type="cylinder" fromto="0 0 0 0 0 -0.294" material="LimbColor" size="0.0147" mass="0" />
         <site name="upperArmCOM" pos="0 0 -0.129" />
         <body name="foreArm" pos="0 0 -0.294" euler="0 0 0">
           <joint name="elbowJoint" ref="0" type="hinge" stiffness="0" pos="0 0 0" axis="0 -1 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" />
            <geom type="cylinder" fromto="0 0 0 0 0 -0.291" material="LimbColor" size="0.0147" mass="0" />
            <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="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 -0.1000" size="0.0100000" mass="0" />
               <geom name="geom1" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
               <body name="node2" euler="0 0 0" pos="0 0 -0.1000">
                 <joint name="node2JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                  <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                  <geom name="geom2" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                  <body name="node3" euler="0 0 0" pos="0 0 -0.1000">
                    <joint name="node3JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                     <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                     <geom name="geom3" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                     <body name="node4" euler="0 0 0" pos="0 0 -0.1000">
                       <joint name="node4JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                        <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                        <geom name="geom4" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                        <body name="node5" euler="0 0 0" pos="0 0 -0.1000">
                          <joint name="node5JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                           <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                           <geom name="geom5" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                           <body name="node6" euler="0 0 0" pos="0 0 -0.1000">
                             <joint name="node6JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                              <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                              <geom name="geom6" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                              <body name="node7" euler="0 0 0" pos="0 0 -0.1000">
                                <joint name="node7JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                                 <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                                 <geom name="geom7" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                                 <body name="node8" euler="0 0 0" pos="0 0 -0.1000">
                                   <joint name="node8JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                                    <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                                    <geom name="geom8" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                                    <body name="node9" euler="0 0 0" pos="0 0 -0.1000">
                                      <joint name="node9JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                                       <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                                       <geom name="geom9" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                                       <body name="node10" euler="0 0 0" pos="0 0 -0.1000">
                                         <joint name="node10JointY" type="hinge" axis="0 -1 0" pos="0 0 0" springref="0" stiffness="0.05" damping="0.005" />
                                          <geom type="cylinder" fromto="0 0 0 0 0 -0.1000" size="0.0100000" mass="0" />
                                          <geom name="geom10Tip" type="sphere" material="pointMassColor" pos="0 0 -0.1000" size="0.0200000" mass="0.1000000" />
                                       </body>
                                    </body>
                                 </body>
                              </body>
                           </body>
                        </body>
                     </body>
                  </body>
               </body>
            </body>
            <!-- === [ N, L, M, k, b, rho ] = [10,1.000000,1.000000,0.050000,0.005000,1.000000] -->
         </body>
      </body>
      <geom name="target" type="sphere" pos=" 1.5950  0.0000  0.0000" material="LimbColor" mass="0" size="0.03" />
   </worldbody>

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

   <actuator>
     <motor joint="shoulderJoint" name="shoulderJointTorqueMotor" forcelimited="false" />
      <motor joint="elbowJoint" name="elbowJointTorqueMotor" forcelimited="false" />
   </actuator>
</mujoco>
