diff --git a/Docs/measurements.md b/Docs/measurements.md
index d9a4d53a2..55c787ff6 100644
--- a/Docs/measurements.md
+++ b/Docs/measurements.md
@@ -126,18 +126,68 @@ If enabled, the server attaches a list of agents to the measurements package
every frame. Each of these agents has an unique id that identifies it, and
belongs to one of the following classes
- * **Vehicle** Contains its transform, box-extent, and forward speed.
- * **Pedestrian** Contains its transform, box-extent, and forward speed. (*)
- * **Traffic light** Contains its transform and state (green, yellow, red).
- * **Speed-limit sign** Contains its transform and speed-limit.
+ * Vehicle
+ * Pedestrian
+ * Traffic ligth
+ * Speed limit sign
-(*) At this point every pedestrian is assumed to have the same bounding-box
-size.
+Each of them can be accessed in Python by checking if the agent object has the
+field enabled
+
+```python
+measurements, sensor_data = client.read_data()
+
+for agent in measurements.non_player_agents:
+ agent.id # unique id of the agent
+ if agent.HasField('vehicle'):
+ agent.vehicle.forward_speed
+ agent.vehicle.transform
+ agent.vehicle.bounding_box
+```
+
+Vehicle
+
+Key | Type | Description
+------------------------------- | --------- | ------------
+id | uint32 | Agent ID
+vehicle.forward_speed | float | Forward speed of the vehicle in m/s
+vehicle.transform | Transform | Agent-to-world transform
+vehicle.bounding_box.transform | Transform | Transform of the bounding box relative to the vehicle
+vehicle.bounding_box.extent | Vector3D | Radii dimensions of the bounding box in meters
+
+Pedestrian
+
+Key | Type | Description
+--------------------------------- | --------- | ------------
+id | uint32 | Agent ID
+pedestrian.forward_speed | float | Forward speed of the pedestrian in m/s
+pedestrian.transform | Transform | Agent-to-world transform
+pedestrian.bounding_box.transform | Transform | Transform of the bounding box relative to the pedestrian
+pedestrian.bounding_box.extent | Vector3D | Radii dimensions of the bounding box in meters (*)
+
+(*) At this point every pedestrian is assumed to have the same
+bounding-box size.
+
+Traffic light
+
+Key | Type | Description
+---------------------------- | --------- | ------------
+id | uint32 | Agent ID
+traffic_light.transform | Transform | Agent-to-world transform
+traffic_light.state | enum | Traffic light state; `GREEN`, `YELLOW`, or `RED`
+
+Speed limit sign
+
+Key | Type | Description
+---------------------------- | --------- | ------------
+id | uint32 | Agent ID
+speed_limit_sign.transform | Transform | Agent-to-world transform
+speed_limit_sign.speed_limit | float | Speed limit in m/s
Transform and bounding box
-The transform defines the location and orientation of the agent. The bounding
-box is centered at the agent's location. The box extent gives the radii
-dimensions of the bounding box of the agent.
+The transform defines the location and orientation of the agent. The transform
+of the bounding box is given relative to the vehicle. The box extent gives the
+radii dimensions of the bounding box of the agent.
