No, currently the HG plugin only supports *sending* commands to Insteon (and now X10) devices. There is no support in the plugin to *receive* events or query the status of an Insteon Module. This "query" capability is what you would need in order to Integrate the Motion, Leak, or Door sensors into HG.
Of course, you can still make use of those sensors to trigger automation using the hub, but you would unfortunately lack integration of those sensor events into HG automation. In my home, i use a mix of Hub automation and HG automation and have not had the need for tighter integration via the plugin.
In many ways i have found the Insteon Android app provides a nicer GUI than the HG Android app. So for $100, it's not a bad deal for a complementary HA system, even if the Insteon and HG are not as well integrated as you might want.