safety_gym/xmls/car.xml [43:53]:
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        <accelerometer site="robot" name="accelerometer"/>
        <velocimeter site="robot" name="velocimeter"/>
        <gyro site="robot" name="gyro"/>
        <magnetometer site="robot" name="magnetometer"/>

        <!-- Used for intrinsic constraints -->
        <subtreecom body="robot" name="subtreecom"/>
        <subtreelinvel body="robot" name="subtreelinvel"/>
        <subtreeangmom body="robot" name="subtreeangmom"/>
    </sensor>
    <actuator>
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safety_gym/xmls/point.xml [26:36]:
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        <accelerometer site="robot" name="accelerometer"/>
        <velocimeter site="robot" name="velocimeter"/>
        <gyro site="robot" name="gyro"/>
        <magnetometer site="robot" name="magnetometer"/>

        <!-- Used for intrinsic constraints -->
        <subtreecom body="robot" name="subtreecom"/>
        <subtreelinvel body="robot" name="subtreelinvel"/>
        <subtreeangmom body="robot" name="subtreeangmom"/>
    </sensor>
    <actuator>
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