diff --git a/raillabel/format/bbox.py b/raillabel/format/bbox.py
index b4ffe69..cd58b41 100644
--- a/raillabel/format/bbox.py
+++ b/raillabel/format/bbox.py
@@ -26,8 +26,8 @@ class Bbox:
     object_id: UUID
     "The unique identifyer of the real-life object, this annotation belongs to."
 
-    sensor: str
-    "The uid of the sensor, this annotation is labeled in."
+    sensor_id: str
+    "The unique identifyer of the sensor this annotation is labeled in."
 
     attributes: dict[str, float | bool | str | list]
     "Additional information associated with the annotation."
@@ -39,7 +39,7 @@ def from_json(cls, json: JSONBbox, object_id: UUID) -> Bbox:
             pos=Point2d.from_json((json.val[0], json.val[1])),
             size=Size2d.from_json((json.val[2], json.val[3])),
             object_id=object_id,
-            sensor=json.coordinate_system,
+            sensor_id=json.coordinate_system,
             attributes=_attributes_from_json(json.attributes),
         )
 
@@ -48,11 +48,11 @@ def to_json(self, uid: UUID, object_type: str) -> JSONBbox:
         return JSONBbox(
             name=self.name(object_type),
             val=list(self.pos.to_json()) + list(self.size.to_json()),
-            coordinate_system=self.sensor,
+            coordinate_system=self.sensor_id,
             uid=uid,
             attributes=_attributes_to_json(self.attributes),
         )
 
     def name(self, object_type: str) -> str:
         """Return the name of the annotation used for indexing in the object data pointers."""
-        return f"{self.sensor}__bbox__{object_type}"
+        return f"{self.sensor_id}__bbox__{object_type}"
diff --git a/raillabel/format/cuboid.py b/raillabel/format/cuboid.py
index 3422c43..2ca34d9 100644
--- a/raillabel/format/cuboid.py
+++ b/raillabel/format/cuboid.py
@@ -31,8 +31,8 @@ class Cuboid:
     object_id: UUID
     "The unique identifyer of the real-life object, this annotation belongs to."
 
-    sensor: str
-    "The uid of the sensor, this annotation is labeled in."
+    sensor_id: str
+    "The unique identifyer of the sensor this annotation is labeled in."
 
     attributes: dict[str, float | bool | str | list]
     "Additional information associated with the annotation."
@@ -45,10 +45,10 @@ def from_json(cls, json: JSONCuboid, object_id: UUID) -> Cuboid:
             quat=Quaternion.from_json((json.val[3], json.val[4], json.val[5], json.val[6])),
             size=Size3d.from_json((json.val[7], json.val[8], json.val[9])),
             object_id=object_id,
-            sensor=json.coordinate_system,
+            sensor_id=json.coordinate_system,
             attributes=_attributes_from_json(json.attributes),
         )
 
     def name(self, object_type: str) -> str:
         """Return the name of the annotation used for indexing in the object data pointers."""
-        return f"{self.sensor}__cuboid__{object_type}"
+        return f"{self.sensor_id}__cuboid__{object_type}"
diff --git a/raillabel/format/num.py b/raillabel/format/num.py
index d92aff6..21e7a23 100644
--- a/raillabel/format/num.py
+++ b/raillabel/format/num.py
@@ -18,7 +18,7 @@ class Num:
     val: float
     "This is the value of the number object."
 
-    sensor: str | None
+    sensor_id: str | None
     "A reference to the sensor, this value is represented in."
 
     @classmethod
@@ -27,5 +27,5 @@ def from_json(cls, json: JSONNum) -> Num:
         return Num(
             name=json.name,
             val=json.val,
-            sensor=json.coordinate_system,
+            sensor_id=json.coordinate_system,
         )
diff --git a/raillabel/format/poly2d.py b/raillabel/format/poly2d.py
index 8cfd9a6..c8030b4 100644
--- a/raillabel/format/poly2d.py
+++ b/raillabel/format/poly2d.py
@@ -25,8 +25,8 @@ class Poly2d:
     object_id: UUID
     "The unique identifyer of the real-life object, this annotation belongs to."
 
-    sensor: str
-    "The uid of the sensor, this annotation is labeled in."
+    sensor_id: str
+    "The unique identifyer of the sensor this annotation is labeled in."
 
     attributes: dict[str, float | bool | str | list]
     "Additional information associated with the annotation."
@@ -41,10 +41,10 @@ def from_json(cls, json: JSONPoly2d, object_id: UUID) -> Poly2d:
             ],
             closed=json.closed,
             object_id=object_id,
-            sensor=json.coordinate_system,
+            sensor_id=json.coordinate_system,
             attributes=_attributes_from_json(json.attributes),
         )
 
     def name(self, object_type: str) -> str:
         """Return the name of the annotation used for indexing in the object data pointers."""
-        return f"{self.sensor}__poly2d__{object_type}"
+        return f"{self.sensor_id}__poly2d__{object_type}"
diff --git a/raillabel/format/poly3d.py b/raillabel/format/poly3d.py
index f7b54a4..6c4777a 100644
--- a/raillabel/format/poly3d.py
+++ b/raillabel/format/poly3d.py
@@ -25,8 +25,8 @@ class Poly3d:
     object_id: UUID
     "The unique identifyer of the real-life object, this annotation belongs to."
 
-    sensor: str
-    "The uid of the sensor, this annotation is labeled in."
+    sensor_id: str
+    "The unique identifyer of the sensor this annotation is labeled in."
 
     attributes: dict[str, float | bool | str | list]
     "Additional information associated with the annotation."
@@ -41,10 +41,10 @@ def from_json(cls, json: JSONPoly3d, object_id: UUID) -> Poly3d:
             ],
             closed=json.closed,
             object_id=object_id,
-            sensor=json.coordinate_system,
+            sensor_id=json.coordinate_system,
             attributes=_attributes_from_json(json.attributes),
         )
 
     def name(self, object_type: str) -> str:
         """Return the name of the annotation used for indexing in the object data pointers."""
-        return f"{self.sensor}__poly3d__{object_type}"
+        return f"{self.sensor_id}__poly3d__{object_type}"
diff --git a/raillabel/format/seg3d.py b/raillabel/format/seg3d.py
index 8e8ff25..76ef176 100644
--- a/raillabel/format/seg3d.py
+++ b/raillabel/format/seg3d.py
@@ -21,8 +21,8 @@ class Seg3d:
     object_id: UUID
     "The unique identifyer of the real-life object, this annotation belongs to."
 
-    sensor: str
-    "The uid of the sensor, this annotation is labeled in."
+    sensor_id: str
+    "The unique identifyer of the sensor this annotation is labeled in."
 
     attributes: dict[str, float | bool | str | list]
     "Additional information associated with the annotation."
@@ -33,10 +33,10 @@ def from_json(cls, json: JSONVec, object_id: UUID) -> Seg3d:
         return Seg3d(
             point_ids=[int(point_id) for point_id in json.val],
             object_id=object_id,
-            sensor=json.coordinate_system,
+            sensor_id=json.coordinate_system,
             attributes=_attributes_from_json(json.attributes),
         )
 
     def name(self, object_type: str) -> str:
         """Return the name of the annotation used for indexing in the object data pointers."""
-        return f"{self.sensor}__vec__{object_type}"
+        return f"{self.sensor_id}__vec__{object_type}"
diff --git a/tests/test_raillabel/format/test_bbox.py b/tests/test_raillabel/format/test_bbox.py
index cc534e0..7c061de 100644
--- a/tests/test_raillabel/format/test_bbox.py
+++ b/tests/test_raillabel/format/test_bbox.py
@@ -43,7 +43,7 @@ def bbox(
     return Bbox(
         pos=point2d,
         size=size2d,
-        sensor="rgb_middle",
+        sensor_id="rgb_middle",
         attributes=attributes_multiple_types,
         object_id=object_person_id,
     )
diff --git a/tests/test_raillabel/format/test_cuboid.py b/tests/test_raillabel/format/test_cuboid.py
index ce7bfe8..9cfeeb6 100644
--- a/tests/test_raillabel/format/test_cuboid.py
+++ b/tests/test_raillabel/format/test_cuboid.py
@@ -46,7 +46,7 @@ def cuboid(
         pos=point3d,
         quat=quaternion,
         size=size3d,
-        sensor="lidar",
+        sensor_id="lidar",
         attributes=attributes_multiple_types,
         object_id=object_person_id,
     )
diff --git a/tests/test_raillabel/format/test_num.py b/tests/test_raillabel/format/test_num.py
index dcde12d..2e0fae7 100644
--- a/tests/test_raillabel/format/test_num.py
+++ b/tests/test_raillabel/format/test_num.py
@@ -26,7 +26,7 @@ def num_json() -> JSONNum:
 @pytest.fixture
 def num() -> Num:
     return Num(
-        sensor="gps_imu",
+        sensor_id="gps_imu",
         name="velocity",
         val=49.21321,
     )
diff --git a/tests/test_raillabel/format/test_poly2d.py b/tests/test_raillabel/format/test_poly2d.py
index b91a7aa..7773df9 100644
--- a/tests/test_raillabel/format/test_poly2d.py
+++ b/tests/test_raillabel/format/test_poly2d.py
@@ -45,7 +45,7 @@ def poly2d(
     return Poly2d(
         points=[point2d, another_point2d],
         closed=True,
-        sensor="rgb_middle",
+        sensor_id="rgb_middle",
         attributes=attributes_multiple_types,
         object_id=object_track_id,
     )
diff --git a/tests/test_raillabel/format/test_poly3d.py b/tests/test_raillabel/format/test_poly3d.py
index b8752d0..6119d38 100644
--- a/tests/test_raillabel/format/test_poly3d.py
+++ b/tests/test_raillabel/format/test_poly3d.py
@@ -44,7 +44,7 @@ def poly3d(
     return Poly3d(
         points=[point3d, another_point3d],
         closed=True,
-        sensor="lidar",
+        sensor_id="lidar",
         attributes=attributes_multiple_types,
         object_id=object_track_id,
     )
diff --git a/tests/test_raillabel/format/test_seg3d.py b/tests/test_raillabel/format/test_seg3d.py
index 8be83c6..0dd2716 100644
--- a/tests/test_raillabel/format/test_seg3d.py
+++ b/tests/test_raillabel/format/test_seg3d.py
@@ -38,7 +38,7 @@ def seg3d(
 ) -> Seg3d:
     return Seg3d(
         point_ids=[1234, 5678],
-        sensor="lidar",
+        sensor_id="lidar",
         attributes=attributes_multiple_types,
         object_id=object_person_id,
     )