Sensors are almost integral components to every cutting-edge (automation) application. They capture the environment, the status of the plant, objects to be processed and much more. The seamless integration of simulated and real-life sensors in eRobotics applications is therefore indispensable. MMI has therefore developed an efficient sensor framework in collaboration with its partners. On the one hand it enables a realistic simulation of the most varied sensor types (e.g. camera, laser scanner, radar, ultrasound, contact and force measurement) and on the other hand offers a diverse interface for corresponding real-life sensors. Also on the one hand this facilitates verified and calibrated simulation algorithms and simulation models being made available, while on the other a seamless exchange between simulation (use of simulated sensor information) and reality (use of real-life sensor information) is enabled.