In terms of sensor simulation, 51Sim-One supports multi-channel simulation of general-purpose or customized demand sensors to meet the testing and training of perception system algorithms, and also supports various hardware-in-the-loop testing requirements. For camera simulation, 51Sim-One provides annotated image datasets such as semantic segmentation maps, depth maps, 2D/3D bounding boxes, and simulation of cameras such as monocular, wide-angle, and fisheye. For radar simulation, it can provide raw data of lidar point cloud, point cloud data with annotation, bounding box of recognized objects and other data, as well as target-level millimeter wave radar detection data.