diff --git a/f1tenth_gym/envs/f110_env.py b/f1tenth_gym/envs/f110_env.py
index 9dd7174b..05b17935 100644
--- a/f1tenth_gym/envs/f110_env.py
+++ b/f1tenth_gym/envs/f110_env.py
@@ -485,6 +485,7 @@ def step(self, action):
             "lap_counts": self.lap_counts,
             "collisions": self.sim.collisions,
             "sim_time": self.current_time,
+            "scans": self.sim.agent_scans,
         }
 
         # check done