Accessing LiDAR Data for Multiple Robots in OmniIsaacGym

I’m setting up an environment for training a robot navigation task within the OmniIsaacGym framework. I’ve successfully added a LiDAR object to the USD file for my robots, but I’m looking for guidance or examples on how to access LiDAR data for all robots using a view or interface, similar to the Articulation view. Any advice or examples would be greatly appreciated!

If you want to use rtx lidar, you can take a look at some of the examples here at the bottom of the docs page.

./ standalone_examples/api/omni.isaac.debug_draw/