DORI has 19 types of environmental sensors:

• Ultrasonic distance
• Accelerometer
• Compass
• Gyroscope
• GPS
• Rainfall
• Rain pH
• Relative humidity
• LPG concentration
• Wind speed
• Air pressure
• Air temperature
• Water temperature
• Light sensor
• LIDAR
• PIR motion
• IR thermometer
• Photography
• Lightning sensor

DORI also has several sensors for monitoring its own performance:

• Battery voltage
• Current draw
• Temp: motor1
• Temp: motor2
• Temp: linear actuator
• Temp: stepper
• Temp: Powershot
• Temp: lidar
• Temp: usb modem
• Temp: nokia
• Temp: battery