<!--mujocoinclude>
    <body childclass="hmr_base" name="hammer" euler="1.57 1.57 0">
<geom name="hammer_handle" material="hmr_wood" type="mesh"  mesh="hammer_handle" mass="0.2"/>
<geom class="hmr_col" type="mesh"  mesh="hammer_handle" mass="0.2"/>
<geom name="hammer_head" material="hmr_metal" type="mesh"  mesh="hammer_head" mass="0.4"/>
<geom class="hmr_col" type="mesh"  mesh="hammer_head" mass="0.4"/>
    </body>
</mujocoinclude-->

<mujocoinclude>
    <body childclass="hmr_base" name="hammer" euler="1.57 1.57 0">
        <!--<geom material="hmr_red" euler="0 1.57 0" size="0.02 0.14" type="capsule"/>
        <geom material="hmr_metal" euler="0 1.57 0" pos="0.16 0 0" size="0.026 0.025" type="cylinder"/>
        <geom material="hmr_metal" euler="1.57 0 0" pos="0.16 0.026 0" size="0.02 0.015" type="cylinder"/>
        <geom material="hmr_metal" euler="1.57 0 0" pos="0.16 0.056 0" size="0.038 0.016" type="cylinder"/>
        <geom material="hmr_metal" euler="1.57 0 0" pos="0.16 -0.056 0" size="0.038 0.016" type="cylinder"/>
        <geom material="hmr_metal" euler="1.57 0 0" pos="0.16 -0.026 0" size="0.02 0.015" type="cylinder"/>

        <geom class="hmr_col" euler="0 1.57 0" size="0.02 0.14" type="capsule" mass=".1"/>
        <geom class="hmr_col" euler="0 1.57 0" pos="0.16 0 0.0" size="0.026 0.025" type="cylinder" mass=".2"/>
        <geom class="hmr_col" euler="1.57 0 0" pos="0.16 0.026 0" size="0.02 0.015" type="cylinder" mass=".1"/>
        <geom class="hmr_col" euler="1.57 0 0" pos="0.16 0.056 0" size="0.038 0.016" type="cylinder" mass=".3"/>
        <geom class="hmr_col" euler="1.57 0 0" pos="0.16 -0.056 0.0" size="0.038 0.016" type="cylinder" mass=".3"/>
        <geom class="hmr_col" euler="1.57 0 0" pos="0.16 -0.026 0.0" size="0.02 0.015" type="cylinder" mass=".1"/>-->
        <inertial pos="0 0 0" mass=".01" diaginertia="0.001 0.001 0.001"/>

<body name="ham1">
  <geom material="hmr_wood" type="mesh"  mesh="hammer_handle" />
  <geom name="hammer_handle" class="hmr_col" type="mesh"  mesh="hammer_handle" density="20000" solimp="0.9 0.95 0.001" solref="0.02 1"/>
</body>

<body name="ham2">
<geom material="hmr_metal" type="mesh"  mesh="hammer_head" />
<geom name="hammer_head" class="hmr_col" type="mesh"  mesh="hammer_head" density="20000"/>
</body>

    </body>
</mujocoinclude>