<mujocoinclude>
    <body childclass="hmr_base" name="hammerblock">
      <geom material="hmr_wood" mesh="hammerblock" pos="0 0 0.11"/>
      <geom class="hmr_col" pos="0 0 0.172" size="0.1 0.1 0.048" type="box"/>
      <geom class="hmr_col" pos="0.058 0 0.11" size="0.042 0.1 0.014" type="box"/>
      <geom class="hmr_col" pos="-0.058 0 0.11" size="0.042 0.1 0.014" type="box"/>
      <geom class="hmr_col" pos="0 0 0.048" size="0.1 0.1 0.048" type="box"/>
      <body name="nail_link" pos="0 -0.21 0.11">
          <joint type="slide" axis="0 1 0" range="0 .1"/>
          <geom material="hmr_metal" euler="1.57 0 0" mesh="nail" pos="-0.0 0.057 0"/>
          <geom class="hmr_col" euler="1.57 0 0" pos="0.0 0.057 0" size="0.01 0.06" type="cylinder"/>
          <geom class="hmr_col" euler="1.57 0 0" size="0.03 0.009" type="cylinder"/>
      </body>
    </body>
</mujocoinclude>
