mujoco

<mujoco>
  <option>
    <flag multiccd="enable"/>
  </option>

  <visual>
    <global elevation="-20"/>
  </visual>

  <worldbody>
    <geom type="plane" size="1 1 .1"/>
    <light pos="0 -.2 2" dir="0 1 -4" diffuse="1 1 1"/>
    <body pos="0 0 .8">
      <joint type="slide" stiffness="1000"/>
      <geom size=".05" mass="20"/>
      <site name="hook" pos="0 0 -.05"/>
    </body>

    <body pos="-.15 -.15 .3">
      <joint name="hinge" type="hinge" axis="0 0 1" damping=".5"/>
      <geom type="cylinder" size=".01" fromto="0 0 0 0 0 .1"/>
      <geom type="capsule" size=".01" fromto="0 0 0 .25 0 0"/>
      <geom size=".02" pos=".25 0 0"/>
      <site name="corner" pos=".25 0 .02"/>
    </body>
  </worldbody>

  <tendon>
    <spatial limited="true" range="0 .5" width=".005">
      <site site="hook"/>
      <site site="corner"/>
    </spatial>
  </tendon>

  <actuator>
    <general joint="hinge" biasprm="2" biastype="affine"/>
  </actuator>
</mujoco>