<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"
                   frictionloss="50.0"
                   solimpfriction="1 .9 0.001"/><!-- damping="500.0" --> <!-- solreffriction="" solimpfriction="" -->
            <geom class="collision" type="cylinder" euler="0 0 0" pos="0 0 0.05" size="0.0075 0.05" mass=".05"/>
            <geom class="collision" 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="collision" type="box" euler="0 0 0" pos="0 0 0" size="0.1 0.1 0.1"/>
    </body>
</mujoco>