A system for performing an animal related action on an animal, the system comprising: a 3D sensor system to determine 3D spatial information of atleast one animal part of said animal, an animal related device for performing said animal related action on said animal, a system control for controlling the animal related device to perform said action on the basis of said determined 3D spatial information, wherein said 3D sensor system comprises a source for emitting optical electromagnetic radiation, and a sensor housing with a window and a 3D sensor having a sensor device to detect optical electromagnetic radiation that has been reflected off said animal part through said window onto the sensor device, wherein said 3D sensor system has a sensor control to derive said 3D spatial information from said detected optical electromagnetic radiation, wherein said sensor housing further comprises a wall that is at least partially transparent between said window and said sensor device, and such that there are at least a first space that is limited by the window, the sensor housing and the wall, and a second space opposite the first space with respect to the wall that is limited by the wall and the sensor housing, wherein at least the sensor device is arranged in the second space. This set-up improves thermal properties and extends the working range.La présente invention porte sur un système de réalisation d'action associée aux animaux sur un animal, le système comprenant : un système de capteur tridimensionnel (3D) pour déterminer des informations spatiales 3D d'au moins une partie d'animal dudit animal, un dispositif associé aux animaux destiné à réaliser ladite action associée aux animaux sur ledit animal, une commande de système destinée à commander le dispositif associé aux animaux pour réaliser ladite action sur la base desdites informations spatiales 3D déterminées, ledit système de capteur 3D comprenant une source destinée à émettre un rayonnement électromagnétique optiqu
