Access Isaac Sim Sensor data in a Kit C++ extension

Is it possible to access Isaac Sim sensor data using a Kit C++ extension?

The idea is to fetch Image, Lidar, and IMU data in C++ and then process/manipulate the results.

Thank you.

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We are evaluating C++ extension with Isaac Sim

I found this post that mentions that the C++ API was included in the roadmap. Any updates about it ?