mujoco

<mujoco>
  <option timestep="0.01">
    <flag multiccd="enable"/>
  </option>

  <worldbody>
    <body name="body">
      <joint name="slide" type="slide"/>
      <geom size=".1"/>
    </body>
  </worldbody>

  <actuator>
    <motor name="motor0" joint="slide" delay="0.05" nsample="6"/>
  </actuator>

  <sensor>
    <jointpos name="jointpos0" joint="slide" delay="0.025" interp="linear" nsample="4"/>
    <jointpos name="jointpos1" joint="slide" interval="0.025" nsample="3"/>
    <framepos name="framepos0" objtype="body" objname="body" nsample="5"/>
  </sensor>
</mujoco>