> This page is for version Release 3.0 (default).
> For other versions, use one of these documentation indexes:
> - Release 3.0 (default): https://docs.nvidia.com/isaaclab/3.0/llms.txt
> - Release 2.3: https://docs.nvidia.com/isaaclab/2.3/llms.txt
> - Release 2.2: https://docs.nvidia.com/isaaclab/2.2/llms.txt
> - Release 2.1: https://docs.nvidia.com/isaaclab/2.1/llms.txt

> For clean Markdown of any page, append .md to the page URL.
> For a complete documentation index, see https://docs.nvidia.com/isaaclab/llms.txt.
> For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.nvidia.com/isaaclab/_mcp/server.

# Sensors

Sensors provide batched measurements of simulation state and camera images.

## Choose a sensor

| Sensor                                                                      | Measurement                                                                   | Typical use                                                |
| --------------------------------------------------------------------------- | ----------------------------------------------------------------------------- | ---------------------------------------------------------- |
| [camera](/isaaclab/3.0/concepts/sensors/camera)                             | Renderer-produced color, depth, normals, motion, and segmentation images      | Vision observations and synthetic data                     |
| [ray_caster](/isaaclab/3.0/concepts/sensors/ray-caster)                     | First collision locations for configurable ray patterns                       | Terrain sensing, lidar-style queries, and ray-cast cameras |
| [contact_sensor](/isaaclab/3.0/concepts/sensors/contact-sensor)             | Net and filtered contact forces, contact points, friction, and contact timing | Locomotion, grasping, and collision events                 |
| [frame_transformer](/isaaclab/3.0/concepts/sensors/frame-transformer)       | Relative and world poses for configured frames                                | End-effector, foot, and object tracking                    |
| [imu](/isaaclab/3.0/concepts/sensors/inertial-measurement-unit-imu)         | Angular velocity and proper linear acceleration                               | Inertial observations                                      |
| [pva](/isaaclab/3.0/concepts/sensors/pose-velocity-acceleration-pva-sensor) | Ground-truth pose, velocity, coordinate acceleration, and projected gravity   | State estimation and privileged observations               |
| [joint_wrench_sensor](/isaaclab/3.0/concepts/sensors/joint-wrench-sensor)   | Incoming joint reaction force and torque                                      | Force/torque sensing and contact-rich control              |

## Sampling and data access

All sensors inherit from [SensorBase](https://isaac-sim.github.io/IsaacLab/release/3.0.0/source/api/lab/isaaclab.sensors.html#isaaclab.sensors.SensorBase) and share these settings
and methods:

* `prim_path` selects the prim or prims measured in every cloned environment.
* `update_period` sets the sampling period in simulated seconds. A value of `0.0` samples every
  simulation step.
* [update](https://isaac-sim.github.io/IsaacLab/release/3.0.0/source/api/lab/isaaclab.sensors.html#isaaclab.sensors.SensorBase.update) advances the sensor clock. Sensor data is evaluated
  lazily when the [data](https://isaac-sim.github.io/IsaacLab/release/3.0.0/source/api/lab/isaaclab.sensors.html#isaaclab.sensors.SensorBase.data) property is read, unless recomputation or
  debug visualization is requested.
* [reset](https://isaac-sim.github.io/IsaacLab/release/3.0.0/source/api/lab/isaaclab.sensors.html#isaaclab.sensors.SensorBase.reset) clears per-environment timestamps and internal state.

Set `scene.cfg.lazy_sensor_update=False` to refresh data during `scene.update(dt)`.
Sensors keep their own sampling periods and reset state. Sensors that support
batching refresh together; cameras [batch captures by renderer](/isaaclab/3.0/concepts/renderers#batching-camera-renders).

Sensor data is exposed through [ProxyArray](https://isaac-sim.github.io/IsaacLab/release/3.0.0/source/api/lab/isaaclab.utils.html#isaaclab.utils.warp.ProxyArray) buffers, including camera
outputs. Use the `torch` property for a cached zero-copy Torch view or `warp` for the underlying
Warp array.