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A sensor processes some aspect of simulation and outputs formatted data. For example, a camera sensor renders the scene and outputs an image.

There are many different kinds of plugins including:

1. Model: Controls a model
2. World: Controls the world 
3. System: Control load and unloading of the whole system
4. Sensor: Can be used to modify sensor behavior. This type of plugin can be used to add noise to a sensor stream, or make sensor output match a particular sensor model (such as a Hokuyo Laser)