diff --git a/Editor/HumanoidControl/Extensions/UnityXR/UnityXR_Editor.cs b/Editor/HumanoidControl/Extensions/UnityXR/UnityXR_Editor.cs
index 4b66d3a..f07ed11 100644
--- a/Editor/HumanoidControl/Extensions/UnityXR/UnityXR_Editor.cs
+++ b/Editor/HumanoidControl/Extensions/UnityXR/UnityXR_Editor.cs
@@ -104,7 +104,7 @@ namespace Passer.Humanoid {
             public HeadTargetProps(SerializedObject serializedObject, HeadTarget headTarget)
                 : base(serializedObject, headTarget.unityXR, headTarget, nameof(HeadTarget.unityXR)) {
 
-                hmdProp = serializedObject.FindProperty(nameof(HeadTarget.unityXR) + ".hmd");
+                hmdProp = serializedObject.FindProperty(nameof(HeadTarget.unityXR) + ".sensorComponent");
             }
 
             public override void Inspector() {
@@ -121,7 +121,8 @@ namespace Passer.Humanoid {
                         using (new EditorGUILayout.HorizontalScope()) {
                             EditorGUILayout.LabelField("Hmd", GUILayout.Width(120));
                             if (GUILayout.Button("Show")) {
-                                headTarget.unityXR.CheckSensor(headTarget);
+                                //headTarget.unityXR.CheckSensor(headTarget);
+                                headTarget.unityXR.GetSensorComponent();
                             }
                         }
                     }
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/HeadSensor.cs b/Runtime/HumanoidControl/Scripts/Extensions/HeadSensor.cs
index fe60fad..c6b1d9a 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/HeadSensor.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/HeadSensor.cs
@@ -13,7 +13,6 @@ namespace Passer.Humanoid {
 
         protected HumanoidControl humanoid => headTarget.humanoid;
 
-        //public SensorComponent sensorComponent;
         protected new Tracking.HeadSensor sensor;
 
 
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/HumanoidSensor.cs b/Runtime/HumanoidControl/Scripts/Extensions/HumanoidSensor.cs
index a6e6f37..b11898a 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/HumanoidSensor.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/HumanoidSensor.cs
@@ -14,13 +14,6 @@ namespace Passer.Humanoid {
 
         protected Tracking.Sensor sensor;
 
-        public SensorComponent sensorComponent;
-        /// <summary>
-        /// Returns sensorComponent and creates a new SensorComponent if it does not exist
-        /// </summary>
-        /// <returns></returns>
-        public abstract SensorComponent GetSensorComponent();
-
         [System.NonSerialized]
         public const string _name = "";
         public override string name { get { return _name; } }
@@ -125,6 +118,12 @@ namespace Passer.Humanoid {
         }
 
         public virtual void UpdateSensorTransformFromTarget(Transform targetTransform) {
+            if (sensorComponent != null) {
+                sensorComponent.transform.position = TransformPointUnscaled(targetTransform, -sensor2TargetPosition);
+                sensorComponent.transform.rotation = targetTransform.rotation * Quaternion.Inverse(sensor2TargetRotation);
+                return;
+            }
+            
             if (sensorTransform == null)
                 return;
 
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/Sensor.cs b/Runtime/HumanoidControl/Scripts/Extensions/Sensor.cs
index d4a041e..8825c45 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/Sensor.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/Sensor.cs
@@ -1,6 +1,7 @@
 using UnityEngine;
 
 namespace Passer {
+    using Tracking;
 
     [System.Serializable]
     public abstract class Sensor {
@@ -14,6 +15,14 @@ namespace Passer {
 
         public Transform sensorTransform;
 
+        public SensorComponent sensorComponent;
+        /// <summary>
+        /// Returns sensorComponent and creates a new SensorComponent if it does not exist
+        /// </summary>
+        /// <returns></returns>
+        public abstract SensorComponent GetSensorComponent();
+
+
         public virtual void Start(Transform targetTransform) {
             target = targetTransform.GetComponent<Target>();
         }
diff --git a/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHead.cs b/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHead.cs
index d083ae1..5262a37 100644
--- a/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHead.cs
+++ b/Runtime/HumanoidControl/Scripts/Extensions/UnityXR/UnityXRHead.cs
@@ -19,13 +19,20 @@ namespace Passer.Humanoid {
             if (sensorComponent != null)
                 return sensorComponent;
 
-            if (tracker.trackerComponent == null)
-                tracker.CheckTracker(humanoid);
+            // Make sure the unityXR component exists
+            humanoid.unityXR.GetTrackerComponent();
 
             Vector3 position = headTarget.transform.TransformPoint(headTarget.head2eyes);
             Quaternion rotation = headTarget.transform.rotation;
             UnityXR unityXRtracker = tracker.trackerComponent as UnityXR;
             sensorComponent = unityXRtracker.GetHmd(position, rotation);
+
+            if (sensorComponent != null)
+                sensorTransform = sensorComponent.transform;
+
+            if (!Application.isPlaying)
+                SetSensor2Target();
+
             return sensorComponent;
         }