diff --git a/robohive/robot/robot.py b/robohive/robot/robot.py
index db8b7bd5..2636920a 100644
--- a/robohive/robot/robot.py
+++ b/robohive/robot/robot.py
@@ -383,6 +383,9 @@ def get_sensors(self, noise_scale=None, random_generator=None):
         current_sen={}
         noise_scale = self._noise_scale if noise_scale is None else noise_scale
 
+        # Update time
+        self.time_wall = time.time()-self.time_start
+
         if self.is_hardware:
             # record sensor*device['scale']+device['offset']
             current_sen = self.hardware_get_sensors()
@@ -419,9 +422,6 @@ def get_sensors(self, noise_scale=None, random_generator=None):
         # cache sensors
         self._sensor_cache.append(current_sen)
 
-        # Update time
-        self.time_wall = time.time()-self.time_start
-
         return current_sen