<mujoco>
  <body name="nail_base" euler="0 0 0" pos="0 0 0">
    <body name="nail" euler="0 0 0" pos="0 0 .1">
      <joint type="slide" name="nail_position" pos="0 0 0" axis="0 0 1.0" limited="true" range="-0.1 0"/>
      <geom class="visual" type="cylinder" euler="0 0 0" pos="0 0 0.05" size="0.0075 0.05" mass=".05"/>
      <geom class="visual" type="cylinder" euler="0 0 0" pos="0 0 0.105" size="0.015 0.005" mass=".05"/>
      <site name="nail_top" pos="0 0 0.105" euler="0 0 0" size="0.005 0.005 0.005"/>
    </body>

    <geom class="visual" type="box" euler="0 0 0" pos="0 0 0" size="0.1 0.1 0.1"/>
  </body>
</mujoco>