Many of the described robots in the mujoco_menagerie gallery could probably do the job: https://github.com/google-deepmind/mujoco_menagerie

The sensor recovery time limits the sampling time. A 28 second sensor recovery time with SnO2-Gr (graphene oxide) would be more useful for sampling larger volumes than minutes with just SnO2 FWIU; https://news.ycombinator.com/context?id=46521695