Mujoco_WASM/mjx/mujoco/mjx/test_data/sensor.xml

<!-- For validating sensors:

* position-dependent sensors:
-magnetometer
-camprojection
-rangefinder
-jointpos
-actuatorpos
-ballquat
-framepos
-framexaxis
-frameyaxis
-framezaxis
-framequat
-subtreecom
-clock
* velocity-dependent sensors:
-velocimeter
-gyro
-jointvel
-actuatorvel
-ballangvel
* acceleration/force-dependent sensors:
-actuatorfrc
-jointactfrc
-->
<mujoco model="sensor">
  <asset>
    <material name="material"/>
  </asset>
  <worldbody>
    <!-- tree 0 -->
    <body name="body0" pos="1 2 3">
      <joint name="hinge0" type="hinge" axis="1 0 0"/>
      <geom size="0.1" material="material"/>
      <site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
      <site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
      <site name="site0" pos=".1 .2 .3"/>
      <body name="body1" pos="0.1 0.2 0.3">
        <joint name="hinge1" type="hinge" axis="0 1 0"/>
        <geom size="0.25"/>
        <site name="site1" pos=".2 .4 .6"/>
      </body>
    </body>

    <!-- body 2 -->
    <body name="body2" pos=".1 .1 .1">
      <joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
      <geom size="1"/>
    </body>

    <!-- body 3 -->
    <body name="body3" pos="-.1 -.1 -.1">
      <joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
      <geom size="1"/>
      <site name="site3"/>
    </body>

    <!-- bodies for camera projection -->
    <body pos="11.1 0 1">
      <geom type="box" size=".1 .6 .375"/>
      <site name="frontorigin" pos="-.1  .6  .375"/>
      <site name="frontcenter" pos="-.1 0 0"/>
    </body>
    <body pos="10 0 0">
      <joint axis="0 0 1" range="-180 180" limited="false"/>
      <geom type="sphere" size=".2" pos="0 0 0.9"/>
      <camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
              resolution="1920 1200" name="fixedcamera"/>
    </body>

    <!-- body for rangefinder -->
    <body name="body_rangefinder" pos="1 2 4">
      <geom size="0.01" material="material"/>
    </body>
  </worldbody>

  <actuator>
    <motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
      ctrllimited="true"/>
    <motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
      ctrllimited="true"/>
  </actuator>

  <sensor>
    <magnetometer name="magnetometer0" site="site0"/>
    <velocimeter name="velocimeter0" site="site0"/>
    <velocimeter name="velocimeter0cutoff" site="site0" cutoff="3e-4"/>
    <gyro name="gyro0" site="site0"/>
    <gyro name="gyro0cutoff" site="site0" cutoff="2e-3"/>
    <rangefinder name="rangefinder0" site="site_rangefinder0"/>
    <jointpos name="jointpos0" joint="hinge0"/>
    <jointpos name="jointpos0cutoff" joint="hinge0" cutoff="1e-4"/>
    <jointvel name="jointvel0" joint="hinge0"/>
    <jointvel name="jointvel0cutoff" joint="hinge0" cutoff="1e-3"/>
    <actuatorfrc name="actuatorfrc0" actuator="motor0"/>
    <actuatorpos name="actuatorpos0" actuator="motor0"/>
    <actuatorvel name="actuatorvel0" actuator="motor0"/>
    <ballquat name="ballquat2" joint="ballquat2"/>
    <ballangvel name="ballangvel2" joint="ballquat2"/>
    <framexaxis name="framexaxis0" objtype="site" objname="site0"/>
    <jointactuatorfrc name="jointactfrc1" joint="hinge1"/>
    <framezaxis name="framezaxis0" objtype="site" objname="site0"/>
    <framequat name="framequat3" objtype="site" objname="site3"/>
    <frameyaxis name="frameyaxis0" objtype="site" objname="site0"/>
    <framepos name="framepos0" objtype="site" objname="site0"/>
    <velocimeter name="velocimeter1" site="site1"/>
    <gyro name="gyro1" site="site1"/>
    <actuatorfrc name="actuatorfrc1" actuator="motor1"/>
    <subtreecom name="subtreecom0" body="body0"/>
    <camprojection site="frontorigin" camera="fixedcamera"/>
    <magnetometer name="magnetometer1" site="site1"/>
    <jointpos name="jointpos1" joint="hinge1"/>
    <jointvel name="jointvel1" joint="hinge1"/>
    <actuatorpos name="actuatorpos1" actuator="motor1"/>
    <actuatorvel name="actuatorvel1" actuator="motor1"/>
    <framepos name="framepos1" objtype="site" objname="site1"/>
    <jointactuatorfrc name="jointactfrc0" joint="hinge0"/>
    <framezaxis name="framezaxis1" objtype="site" objname="site1"/>
    <framexaxis name="framexaxis1" objtype="site" objname="site1"/>
    <ballquat name="ballquat3" joint="ballquat3"/>
    <camprojection site="frontcenter" camera="fixedcamera"/>
    <ballangvel name="ballangvel3" joint="ballquat3"/>
    <frameyaxis name="frameyaxis1" objtype="site" objname="site1"/>
    <framequat name="framequat0" objtype="site" objname="site0"/>
    <rangefinder name="rangefinder1" site="site_rangefinder1"/>
    <subtreecom name="subtreecom1" body="body1"/>
    <clock/>
  </sensor>
</mujoco>