<mujoco>
  <worldbody>
    <body>
      <geom type="sphere" size="0.1"/>
      <joint type="slide" name="slide_joint"/>
    </body>
  </worldbody>
  <actuator>
    <!-- 3rd-order actuator preceding a 2nd-order actuator, which is disallowed by the compiler -->
    <cylinder name="cylinder" joint="slide_joint"/>
    <motor name="motor" joint="slide_joint"/>
  </actuator>
</mujoco>
