Simulate LiDAR in Isaac Gym?

Hi NVIDIA Gym Team and friends in this community,
I am simulating a mecanumbot with Lidar sensors, is there any idea to simulate a lidar sensor in Isaac Gym? It is easy to find many force sensor APIs and examples but no line creating API or collision check for Lidar simulation.

Hi @Dotau ,

I’m afraid that we don’t support a LIDAR sensor in Isaac Gym. We do have more robust sensors in Isaac Sim, and these will be available in future releases when we combine Gym-style tensor physics APIs with Omniverse.

You can read more about the Isaac Sim LIDAR sensors here:
LIDAR Simulation — Omniverse Robotics documentation

Take care,

@gstate Thank you.