From 3809951172f6655e291b1f7ca8cd8c720fe6152a Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 13 May 2024 08:05:39 -0700
Subject: [PATCH] Add sensor to replicate example model. Fixes #1654

PiperOrigin-RevId: 633213086
Change-Id: I1672cf31871637497bcb0f26880e0a41a9f510bc
---
 doc/XMLreference.rst | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index 1441d293..fbb6f9fb 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -214,6 +214,10 @@ and namespaced appropriately. Detailed examples of models using replicate can be
             </replicate>
           </replicate>
         </worldbody>
+
+        <sensor>
+          <accelerometer name="Bob" site="Alice"/>
+        </sensor>
       </mujoco>
 
    Results in this model:
@@ -227,6 +231,13 @@ and namespaced appropriately. Detailed examples of models using replicate can be
           <geom name="Alice-01" size="0.1" pos="0 1 0" quat="1 1 0 0"/>
           <geom name="Alice-11" size="0.1" pos="1 1 0" quat="0.5 0.5 0.5 0.5"/>
         </worldbody>
+
+        <sensor>
+          <accelerometer name="Bob-00" site="Alice-00"/>
+          <accelerometer name="Bob-10" site="Alice-10"/>
+          <accelerometer name="Bob-01" site="Alice-01"/>
+          <accelerometer name="Bob-11" site="Alice-11"/>
+        </sensor>
       </mujoco>
 
 .. _include: