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Currently the model editor doesn't support inserting pure sensors. I ticketed an issue for this.

What you can do now is inserting a model which has a sensor, like a depth camera is inserted in this tutorial. For a ray sensor, you could insert the hokuyo model for example. The downside is that you can't edit its properties.

You could also do a combination of model editor + text editor. Create all the parts you can with the model editor, and after the SDF is saved, text-edit that to add a sensor.