Lidar in isaac gym and isaac sim

hello, i want to simulating a wheeled robot with lidar sensor.
but i read this question, when this loaded on mar 04, 21.

i want to use lidar in my RL environment with isaac gym. how can i use?
Do you have any examples or references I could look at?

If I still can’t use LiDAR in Isaac Gym, is it possible to run reinforcement learning using LiDAR in Isaac Sim? What exactly are the differences between Isaac Sim and Isaac Gym?

thank you


i also want to use lidar sensor, wish the developer could help with demands.