mujoco

<mujoco>
  <custom>
    <numeric name="duration" data="0.1"/>
  </custom>

  <option>
    <flag sleep="enable"/>
  </option>

  <worldbody>
    <geom size="1"/>

    <body name="mocap_static" pos="-5 0 0.01" mocap="true">
      <geom size="1" rgba="1 0 0 1"/>
      <body pos="0 0 1">
        <geom size="1" rgba="0 0 1 1"/>
      </body>
    </body>

    <body name="mocap_dynamic" pos="5 0 0.01" mocap="true">
      <geom size="1" rgba="1 0 0 1"/>
      <body pos="0 0 2">
        <joint type="slide"/>
        <geom size="1" rgba="0 0 1 1"/>
      </body>
    </body>
  </worldbody>
</mujoco>