<mujoco>
  <worldbody>
    <body>
      <geom type="sphere" size="0.1"/>
      <joint type="slide" name="slide_joint"/>
    </body>
  </worldbody>
  <actuator>
    <!-- Second-order actuators -->
    <motor name="motor" joint="slide_joint"/>
    <velocity name="velocity" joint="slide_joint"/>
    <!-- Third-order actuators -->
    <cylinder name="cylinder" joint="slide_joint"/>
    <general name="general" joint="slide_joint" dyntype="integrator" biastype="affine" dynprm="1 0 0"/>
  </actuator>
</mujoco>
