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https://w3c.github.io/sensors/
https://w3c.github.io/accelerometer/
https://w3c.github.io/gyroscope/
https://w3c.github.io/orientation-sensor/
These specs and any additional sensor specs cannot be tested in any depth without additional APIs. This was recently discussed in w3c/sensors#257 (comment).
In Chromium there are tests for some of this that need some kind of wpt-side work to be shareable:
https://cs.chromium.org/chromium/src/third_party/WebKit/LayoutTests/sensor/
That'd be either the mojo mocking approach used by Bluetooth and USB, or something else. These APIs are fairly simple (one-way flow of data) so it might not be too hard to define a WebDriver API and wrap it with testdriver.js. @kereliuk FYI.
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