diff --git a/README.md b/README.md
index 559bda2..58a9785 100644
--- a/README.md
+++ b/README.md
@@ -67,7 +67,7 @@ Step Detector | ✅️ | rememberStepDetectorSensorState()
 Step Counter | ✅️ | rememberStepCounterSensorState()
 Geomagnetic Rotation Vector | ✅️️ | rememberGeomagneticRotationVectorSensorState()
 Heart Rate | ✅️ | rememberHeartRateSensorState()
-Pose6DOF | — | N/A
+Pose6DOF | ✅ | rememberPose6DOFSensorState()
 Stationary Detect | ✅️ | rememberStationaryDetectSensorState()
 Motion Detect | ✅️ | rememberMotionDetectSensorState()
 Heart Beat | ✅ | rememberHeartBeatSensorState()
@@ -78,7 +78,7 @@ Head Tracker | ✅️ | rememberHeadTrackerSensorState()
 Accelerometer Limited Axes | ✅️ | rememberLimitedAxesAccelerometerSensorState()
 Gyroscope Limited Axes | ✅️️ | rememberLimitedAxesGyroscopeSensorState()
 Accelerometer Limited Axes (Uncalibrated) | ✅ | rememberUncalibratedLimitedAxesAccelerometerSensorState()
-Gyroscope Limited Axes (Uncalibrated) | — | N/A
+Gyroscope Limited Axes (Uncalibrated) | ✅ | rememberUncalibratedLimitedAxesGyroscopeSensorState()
 Heading | ✅ | rememberHeadingSensorState()
 
 ## License 🔖
diff --git a/composesensors/src/main/java/com/mutualmobile/composesensors/Pose6DOFSensorState.kt b/composesensors/src/main/java/com/mutualmobile/composesensors/Pose6DOFSensorState.kt
new file mode 100644
index 0000000..f198155
--- /dev/null
+++ b/composesensors/src/main/java/com/mutualmobile/composesensors/Pose6DOFSensorState.kt
@@ -0,0 +1,185 @@
+package com.mutualmobile.composesensors
+
+import android.os.Build
+import androidx.annotation.RequiresApi
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.Immutable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+
+/**
+ * A Pose6DOF event consists of a rotation expressed as a quaternion and a translation expressed in
+ * SI units. The event also contains a delta rotation and translation that show how the device's
+ * pose has changed since the previous sequence numbered pose. The event uses the canonical Android
+ * Sensor axes.
+ *
+ * For more info, please refer the [Android Documentation Reference](https://developer.android.com/reference/android/hardware/SensorEvent#sensor.type_pose_6dof)
+ * @param xScaledSinValue Represents the value x*sin(θ/2)
+ * @param yScaledSinValue Represents the value y*sin(θ/2)
+ * @param zScaledSinValue Represents the value z*sin(θ/2)
+ * @param cosValue Represents the value cos(θ/2)
+ * @param xTranslation Translation along x-axis from an arbitrary origin
+ * @param yTranslation Translation along y-axis from an arbitrary origin
+ * @param zTranslation Translation along z-axis from an arbitrary origin
+ * @param xScaledSinDeltaRotation Represents the delta quaternion rotation x*sin(θ/2)
+ * @param yScaledSinDeltaRotation Represents the delta quaternion rotation y*sin(θ/2)
+ * @param zScaledSinDeltaRotation Represents the delta quaternion rotation z*sin(θ/2)
+ * @param cosDeltaRotation Represents the delta quaternion rotation cos(θ/2)
+ * @param xDeltaTranslation Delta translation along x-axis
+ * @param yDeltaTranslation Delta translation along y-axis
+ * @param zDeltaTranslation Delta translation along z-axis
+ * @param sequenceNumber Represents the Sequence number
+ * @param isAvailable Whether the current device has a Pose6DOF sensor. Defaults to false.
+ * @param accuracy Accuracy factor of the Pose6DOF sensor. Defaults to 0.
+ */
+@RequiresApi(Build.VERSION_CODES.N)
+@Immutable
+class Pose6DOFSensorState internal constructor(
+    val xScaledSinValue: Float = 0f,
+    val yScaledSinValue: Float = 0f,
+    val zScaledSinValue: Float = 0f,
+    val cosValue: Float = 0f,
+    val xTranslation: Float = 0f,
+    val yTranslation: Float = 0f,
+    val zTranslation: Float = 0f,
+    val xScaledSinDeltaRotation: Float = 0f,
+    val yScaledSinDeltaRotation: Float = 0f,
+    val zScaledSinDeltaRotation: Float = 0f,
+    val cosDeltaRotation: Float = 0f,
+    val xDeltaTranslation: Float = 0f,
+    val yDeltaTranslation: Float = 0f,
+    val zDeltaTranslation: Float = 0f,
+    val sequenceNumber: Float = 0f,
+    val isAvailable: Boolean = false,
+    val accuracy: Int = 0,
+    private val startListeningEvents: (() -> Unit)? = null,
+    private val stopListeningEvents: (() -> Unit)? = null
+) : SensorStateListener {
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (other !is Pose6DOFSensorState) return false
+
+        if (xScaledSinValue != other.xScaledSinValue) return false
+        if (yScaledSinValue != other.yScaledSinValue) return false
+        if (zScaledSinValue != other.zScaledSinValue) return false
+        if (cosValue != other.cosValue) return false
+        if (xTranslation != other.xTranslation) return false
+        if (yTranslation != other.yTranslation) return false
+        if (zTranslation != other.zTranslation) return false
+        if (xScaledSinDeltaRotation != other.xScaledSinDeltaRotation) return false
+        if (yScaledSinDeltaRotation != other.yScaledSinDeltaRotation) return false
+        if (zScaledSinDeltaRotation != other.zScaledSinDeltaRotation) return false
+        if (cosDeltaRotation != other.cosDeltaRotation) return false
+        if (xDeltaTranslation != other.xDeltaTranslation) return false
+        if (yDeltaTranslation != other.yDeltaTranslation) return false
+        if (zDeltaTranslation != other.zDeltaTranslation) return false
+        if (sequenceNumber != other.sequenceNumber) return false
+        if (isAvailable != other.isAvailable) return false
+        if (accuracy != other.accuracy) return false
+        if (startListeningEvents != other.startListeningEvents) return false
+        if (stopListeningEvents != other.stopListeningEvents) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = xScaledSinValue.hashCode()
+        result = 31 * result + yScaledSinValue.hashCode()
+        result = 31 * result + zScaledSinValue.hashCode()
+        result = 31 * result + cosValue.hashCode()
+        result = 31 * result + xTranslation.hashCode()
+        result = 31 * result + yTranslation.hashCode()
+        result = 31 * result + zTranslation.hashCode()
+        result = 31 * result + xScaledSinDeltaRotation.hashCode()
+        result = 31 * result + yScaledSinDeltaRotation.hashCode()
+        result = 31 * result + zScaledSinDeltaRotation.hashCode()
+        result = 31 * result + cosDeltaRotation.hashCode()
+        result = 31 * result + xDeltaTranslation.hashCode()
+        result = 31 * result + yDeltaTranslation.hashCode()
+        result = 31 * result + zDeltaTranslation.hashCode()
+        result = 31 * result + sequenceNumber.hashCode()
+        result = 31 * result + isAvailable.hashCode()
+        result = 31 * result + accuracy.hashCode()
+        result = 31 * result + startListeningEvents.hashCode()
+        result = 31 * result + stopListeningEvents.hashCode()
+        return result
+    }
+
+    override fun toString(): String {
+        return "Pose6DOFSensorState(xScaledSinValue=$xScaledSinValue," +
+            " yScaledSinValue=$yScaledSinValue, zScaledSinValue=$zScaledSinValue, " +
+            " cosValue=$cosValue, xTranslation=$xTranslation, yTranslation=$yTranslation," +
+            " zTranslation=$zTranslation, xScaledSinDeltaRotation=$xScaledSinDeltaRotation," +
+            " yScaledSinDeltaRotation=$yScaledSinDeltaRotation," +
+            " zScaledSinDeltaRotation=$zScaledSinDeltaRotation," +
+            " cosDeltaRotation=$cosDeltaRotation, xDeltaTranslation=$xDeltaTranslation," +
+            " yDeltaTranslation=$yDeltaTranslation, zDeltaTranslation=$zDeltaTranslation," +
+            " sequenceNumber=$sequenceNumber, isAvailable=$isAvailable, " +
+            "accuracy=$accuracy)"
+    }
+
+    override fun startListening() {
+        startListeningEvents?.invoke()
+    }
+
+    override fun stopListening() {
+        stopListeningEvents?.invoke()
+    }
+}
+
+/**
+ * Creates and [remember]s an instance of [Pose6DOFSensorState].
+ * @param autoStart Start listening to sensor events as soon as sensor state is initialised.
+ * Defaults to true.
+ * @param sensorDelay The rate at which the raw sensor data should be received.
+ * Defaults to [SensorDelay.Normal].
+ * @param onError Callback invoked on every error state.
+ */
+@RequiresApi(Build.VERSION_CODES.N)
+@Composable
+fun rememberPose6DOFSensorState(
+    autoStart: Boolean = true,
+    sensorDelay: SensorDelay = SensorDelay.Normal,
+    onError: (throwable: Throwable) -> Unit = {}
+): Pose6DOFSensorState {
+    val sensorState = rememberSensorState(
+        sensorType = SensorType.Pose6DOF,
+        sensorDelay = sensorDelay,
+        autoStart = autoStart,
+        onError = onError
+    )
+    val pose6DOFSensorState = remember { mutableStateOf(Pose6DOFSensorState()) }
+
+    LaunchedEffect(
+        key1 = sensorState,
+        block = {
+            val sensorStateValues = sensorState.data
+            if (sensorStateValues.isNotEmpty()) {
+                pose6DOFSensorState.value = Pose6DOFSensorState(
+                    xScaledSinValue = sensorStateValues[0],
+                    yScaledSinValue = sensorStateValues[1],
+                    zScaledSinValue = sensorStateValues[2],
+                    cosValue = sensorStateValues[3],
+                    xTranslation = sensorStateValues[4],
+                    yTranslation = sensorStateValues[5],
+                    zTranslation = sensorStateValues[6],
+                    xScaledSinDeltaRotation = sensorStateValues[7],
+                    yScaledSinDeltaRotation = sensorStateValues[8],
+                    zScaledSinDeltaRotation = sensorStateValues[9],
+                    cosDeltaRotation = sensorStateValues[10],
+                    xDeltaTranslation = sensorStateValues[11],
+                    yDeltaTranslation = sensorStateValues[12],
+                    zDeltaTranslation = sensorStateValues[13],
+                    sequenceNumber = sensorStateValues[14],
+                    isAvailable = sensorState.isAvailable,
+                    accuracy = sensorState.accuracy,
+                    startListeningEvents = sensorState::startListening,
+                    stopListeningEvents = sensorState::stopListening
+                )
+            }
+        }
+    )
+
+    return pose6DOFSensorState.value
+}
diff --git a/composesensors/src/main/java/com/mutualmobile/composesensors/UncalibratedLimitedAxesGyroscopeSensorState.kt b/composesensors/src/main/java/com/mutualmobile/composesensors/UncalibratedLimitedAxesGyroscopeSensorState.kt
new file mode 100644
index 0000000..162f96d
--- /dev/null
+++ b/composesensors/src/main/java/com/mutualmobile/composesensors/UncalibratedLimitedAxesGyroscopeSensorState.kt
@@ -0,0 +1,159 @@
+package com.mutualmobile.composesensors
+
+import android.os.Build
+import androidx.annotation.RequiresApi
+import androidx.compose.runtime.Composable
+import androidx.compose.runtime.Immutable
+import androidx.compose.runtime.LaunchedEffect
+import androidx.compose.runtime.mutableStateOf
+import androidx.compose.runtime.remember
+
+/**
+ * Measures a device's rate of rotation in rad/s around each of the three
+ * physical axes (x, y, and z). Uncalibrated gyroscope sensor estimates an
+ * extra drift on x, y, z axes, to the effect that uncalibrated_value =
+ * calibrated_value + drift in that particular axis.
+ *
+ * Equivalent to [UncalibratedGyroscopeSensorState], but supporting cases where one or two axes are
+ * not supported. The last three values represent whether the angular speed value for a given axis
+ * is supported. The supported axes should be determined at build time and these values do not
+ * change during runtime. The angular speed values and drift values for axes that are not supported
+ * are set to 0.
+ *
+ * For more info, please refer the [Android Documentation Reference](https://developer.android.com/reference/android/hardware/SensorEvent#sensor.type_gyroscope_limited_axes_uncalibrated:)
+ *
+ * @param xRotation Angular speed (w/o drift compensation) around the X axis (if supported).
+ * Defaults to 0f.
+ * @param yRotation Angular speed (w/o drift compensation) around the Y axis (if supported).
+ * Defaults to 0f.
+ * @param zRotation Angular speed (w/o drift compensation) around the Z axis (if supported).
+ * Defaults to 0f.
+ * @param xBias estimated drift around X axis (if supported). Defaults to 0f.
+ * @param yBias estimated drift around Y axis (if supported). Defaults to 0f.
+ * @param zBias estimated drift around Z axis (if supported). Defaults to 0f.
+ * @param xAxisSupported Whether angular speed supported for x-axis. Defaults to false.
+ * @param yAxisSupported Whether angular speed supported for y-axis. Defaults to false.
+ * @param zAxisSupported Whether angular speed supported for z-axis. Defaults to false.
+ * @param isAvailable Whether the current device has a gyroscope sensor.
+ *     Defaults to false.
+ * @param accuracy Accuracy factor of the gyroscope sensor. Defaults to 0.
+ */
+@RequiresApi(Build.VERSION_CODES.TIRAMISU)
+@Immutable
+class UncalibratedLimitedAxesGyroscopeSensorState internal constructor(
+    val xRotation: Float = 0f,
+    val yRotation: Float = 0f,
+    val zRotation: Float = 0f,
+    val xBias: Float = 0f,
+    val yBias: Float = 0f,
+    val zBias: Float = 0f,
+    val xAxisSupported: Boolean = false,
+    val yAxisSupported: Boolean = false,
+    val zAxisSupported: Boolean = false,
+    val isAvailable: Boolean = false,
+    val accuracy: Int = 0,
+    private val startListeningEvents: (() -> Unit)? = null,
+    private val stopListeningEvents: (() -> Unit)? = null
+) : SensorStateListener {
+    override fun equals(other: Any?): Boolean {
+        if (this === other) return true
+        if (other !is UncalibratedLimitedAxesGyroscopeSensorState) return false
+
+        if (xRotation != other.xRotation) return false
+        if (yRotation != other.yRotation) return false
+        if (zRotation != other.zRotation) return false
+        if (xBias != other.xBias) return false
+        if (yBias != other.yBias) return false
+        if (zBias != other.zBias) return false
+        if (xAxisSupported != other.xAxisSupported) return false
+        if (yAxisSupported != other.yAxisSupported) return false
+        if (zAxisSupported != other.zAxisSupported) return false
+        if (isAvailable != other.isAvailable) return false
+        if (accuracy != other.accuracy) return false
+        if (startListeningEvents != other.startListeningEvents) return false
+        if (stopListeningEvents != other.stopListeningEvents) return false
+
+        return true
+    }
+
+    override fun hashCode(): Int {
+        var result = xRotation.hashCode()
+        result = 31 * result + yRotation.hashCode()
+        result = 31 * result + zRotation.hashCode()
+        result = 31 * result + xBias.hashCode()
+        result = 31 * result + yBias.hashCode()
+        result = 31 * result + zBias.hashCode()
+        result = 31 * result + xAxisSupported.hashCode()
+        result = 31 * result + yAxisSupported.hashCode()
+        result = 31 * result + zAxisSupported.hashCode()
+        result = 31 * result + isAvailable.hashCode()
+        result = 31 * result + accuracy.hashCode()
+        result = 31 * result + startListeningEvents.hashCode()
+        result = 31 * result + stopListeningEvents.hashCode()
+        return result
+    }
+
+    override fun toString(): String {
+        return "UncalibratedGyroscopeSensorState(xRotation=$xRotation, yRotation=$yRotation," +
+            " zRotation=$zRotation," + "xBias=$xBias," + "yBias=$yBias," + "zBias=$zBias," +
+            " xAxisSupported=$xAxisSupported, yAxisSupported=$yAxisSupported," +
+            " zAxisSupported=$zAxisSupported, isAvailable=$isAvailable, accuracy=$accuracy)"
+    }
+
+    override fun startListening() {
+        startListeningEvents?.invoke()
+    }
+
+    override fun stopListening() {
+        stopListeningEvents?.invoke()
+    }
+}
+
+/**
+ * Creates and [remember]s an instance of [UncalibratedLimitedAxesGyroscopeSensorState].
+ * @param autoStart Start listening to sensor events as soon as sensor state is initialised.
+ * Defaults to true.
+ * @param sensorDelay The rate at which the raw sensor data should be received. Defaults to
+ * [SensorDelay.Normal].
+ * @param onError Callback invoked on every error state.
+ */
+@RequiresApi(Build.VERSION_CODES.TIRAMISU)
+@Composable
+fun rememberUncalibratedLimitedAxesGyroscopeSensorState(
+    autoStart: Boolean = true,
+    sensorDelay: SensorDelay = SensorDelay.Normal,
+    onError: (throwable: Throwable) -> Unit = {}
+): UncalibratedLimitedAxesGyroscopeSensorState {
+    val sensorState = rememberSensorState(
+        sensorType = SensorType.GyroscopeLimitedAxesUncalibrated,
+        sensorDelay = sensorDelay,
+        autoStart = autoStart,
+        onError = onError
+    )
+    val uncalibratedLimitedAxesGyroscopeSensorState =
+        remember { mutableStateOf(UncalibratedLimitedAxesGyroscopeSensorState()) }
+
+    LaunchedEffect(
+        key1 = sensorState,
+        block = {
+            val sensorStateValues = sensorState.data
+            if (sensorStateValues.isNotEmpty()) {
+                uncalibratedLimitedAxesGyroscopeSensorState.value =
+                    UncalibratedLimitedAxesGyroscopeSensorState(
+                        xRotation = sensorStateValues[0],
+                        yRotation = sensorStateValues[1],
+                        zRotation = sensorStateValues[2],
+                        xBias = sensorStateValues[3],
+                        yBias = sensorStateValues[4],
+                        zBias = sensorStateValues[5],
+                        isAvailable = sensorState.isAvailable,
+                        accuracy = sensorState.accuracy,
+                        startListeningEvents = sensorState::startListening,
+                        stopListeningEvents = sensorState::stopListening
+                    )
+            }
+        }
+    )
+
+    return uncalibratedLimitedAxesGyroscopeSensorState.value
+}