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<mujoco>
<worldbody>
<geom type="plane" size="1 1 .01"/>
<light pos="0 0 2"/>
<body pos="0 -.1 .3">
<joint name="slide" type="slide" axis="1 0 0"/>
<geom type="box" size=".05 .05 .05"/>
</body>
<body pos="0 .1 .3" mocap="true">
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
<actuator>
<motor name="stateless" joint="slide"/>
<general name="stateful" joint="slide" dyntype="integrator"/>
</actuator>
<keyframe>
<key time=".1"/>
<key qpos=".2"/>
<key qvel=".3"/>
<key act=".4"/>
<key ctrl=".5 .6"/>
<key mpos=".1 .2 .3"/>
<key mquat="1 1 1 1"/>
</keyframe>
</mujoco>
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