class Lidar:
    """
    An interactive, automated LiDAR sensor, which produces regular LiDAR point clouds, ready for further processing.
    This sensor can be attached to a vehicle, or can be fixed to a position in space. The dir and up parameters are used to set the local coordinate system.
    A requested update rate can be provided, to tell the simulator how often to read measurements for this sensor. If a negative value is provided, the sensor
    will not update automatically at all. However, ad-hoc polling requests can be sent at any time, even for non-updating sensors.

    Args:
        name: A unique name for this LiDAR sensor.
        bng: The BeamNGpy instance, with which to communicate to the simulation.
        vehicle: The vehicle to which this sensor should be attached, if any.
        requested_update_time: The time which should pass between sensor reading updates, in seconds. This is just a suggestion to the manager.
        update_priority: The priority which the sensor should ask for new readings. lowest -> 0, highest -> 1.
        pos: (X, Y, Z) coordinate triplet specifying the position of the sensor, in world space.
        dir: (X, Y, Z) Coordinate triplet specifying the forward direction of the sensor.
        up: (X, Y, Z) Coordinate triplet specifying the up direction of the sensor.
        vertical_resolution: The vertical resolution of this LiDAR sensor.
        vertical_angle: The vertical angle of this LiDAR sensor, in degrees.
        rays_per_second: The number of LiDAR rays per second which this sensor should emit.
        frequency: The frequency of this LiDAR sensor.
        horizontal_angle: The horizontal angle of this LiDAR sensor.
        max_distance: The maximum distance which this LiDAR sensor will detect, in metres.
        is_using_shared_memory: A flag which indicates if we should use shared memory to send/recieve the sensor readings data.
        is_visualised: A flag which indicates if this LiDAR sensor should appear visualised or not.
        is_annotated: A flag which indicates if this LiDAR sensor should return annotation data instead of distance data.
        is_static: A flag which indicates whether this sensor should be static (fixed position), or attached to a vehicle.
        is_snapping_desired: A flag which indicates whether or not to snap the sensor to the nearest vehicle triangle (not used for static sensors).
        is_force_inside_triangle: A flag which indicates if the sensor should be forced inside the nearest vehicle triangle (not used for static sensors).

        lidar = bng_sensors.Lidar(offset=position,
                                  direction=direction,
                                  vres=vertical_resolution,
                                  vangle=vertical_angle,
                                  max_dist=max_distance,
                                  shmem=False,
                                  **spec)

import time 
from beamngpy import BeamNGpy, Scenario, Vehicle

bng = BeamNGpy('localhost', 64256) 
bng.open()

while True:
    time.sleep(5)

000.247|I|Paths|User path: C:\Users\USER\AppData\Local\BeamNG.drive\
000.978|I|SFXFMODProvider::init|SFXFMODProvider - FMOD API version: 2.1.16
002.125|I|SFXSystem::initChannels|SFXSystem initChannels called.....
002.216|I|SFXFMODDevice::_init|SFXFMODDevice::_init() - Setting max Vorbis codecs to 32
002.217|I|SFXFMODDevice::_init|SFXFMODDevice::_init() - Setting max FADPCM codecs to 32
002.218|I|SFXFMODDevice::_init|SFXFMODDevice::_init() - Setting idle sample pool size to 384MB
002.305|I|GELua.|============== Game Engine Lua VM started ==============
002.478|I|GELua.core_activityManager.|Loaded 11 condition types from 3 files.
002.489|I|GELua.gameplay_missions_missions.|Loaded 2 procedural Mission Generators from 2 files.
002.494|I|Paths|User path: C:\Users\USER\AppData\Local\BeamNG.drive\
007.264|I|GELua.pri143.409|I|GELua.util_researchGE.ResearchGE|Accepted new client: 10.140.0.27/64256
143.742|I|GELua.util_researchGE.ResearchGE|Loading scenario: /levels/GridMap/scenarios/test.json
143.905|I|GELua.util_researchGE.ResearchGE|Scenario found...
144.652|I|GELua.levelLoading|*** loading level: levels/gridmap/info.json
144.654|I|GELua.levelLoading|*** Loading init took: 0.185 s
146.066|I|GELua.levelLoading|*** Loaded datablocks in 1.411 s
146.347|I|GELua.levelLoading|*** Loaded materials in 0.282 s
146.350|I|LoadingManager|starting to load objects. Displaying items above 10 ms
146.499|I|LoadingManager::loadLevelJsonObjects|* loading json took 0.147 s
146.501|I|LoadingManager::loadLevelJsonObjects|* ordering json took 0.002 s
146.503|I|LoadingManager| ===== Base       ===================================
146.575|I|LoadingManager|    LevelInfo            [1    ] in 0.070 s | 0.070 s/item
146.609|I|LoadingManager|    CameraBookmark       [11   ] in 0.013 s | 0.001 s/item
146.612|I|LoadingManager|                              total 0.107 s
146.614|I|LoadingManager| ===== Terrain    ===================================
147.177|I|LoadingManager|    TerrainBlock         [1    ] in 0.561 s | 0.561 s/item
147.179|I|LoadingManager|                              total 0.563 s
147.180|I|LoadingManager| ===== Environment ===================================
147.247|I|LoadingManager|    CloudLayer           [2    ] in 0.066 s | 0.033 s/item
147.275|I|LoadingManager|    ScatterSky           [1    ] in 0.026 s | 0.026 s/item
147.369|I|LoadingManager|    WaterBlock           [5    ] in 0.091 s | 0.018 s/item
147.561|I|LoadingManager|    GroundCover          [2    ] in 0.188 s | 0.094 s/item
147.564|I|LoadingManager|                              total 0.382 s
147.565|I|LoadingManager| ===== Forest     ===================================
147.877|I|Forest::reloadData|Read 2538 forest items split into 32 different types
149.799|I|LoadingManager|    Forest               [1    ] in 2.232 s | 2.232 s/item
149.801|I|LoadingManager|                              total 2.234 s
149.803|I|LoadingManager| ===== Meshes     ===================================
151.790|I|LoadingManager|    TSStatic             [867  ] in 1.986 s | 0.002 s/item
151.793|I|LoadingManager|                              total 1.989 s
151.794|I|LoadingManager| ===== Prefabs    ===================================
151.796|I|LoadingManager|                              total 0.000 s
151.797|I|LoadingManager| ===== Roads      ===================================
151.990|I|LoadingManager|    DecalRoad            [75   ] in 0.191 s | 0.003 s/item
151.994|I|LoadingManager|                              total 0.196 s
151.997|I|LoadingManager| ===== Audio      ===================================
151.999|I|LoadingManager|                              total 0.000 s
152.001|I|LoadingManager| ===== Other      ===================================
152.003|I|LoadingManager|                              total 0.001 s
152.773|I|SceneStaticManagerRender::_onObjectsReady|*** Built static data in 0.766s
152.775|I|LoadingManager::loadLevelJsonObjects|* loading took 6.274 s
152.781|I|GELua.levelLoading|*** Level loaded: /levels/gridmap/info.json
152.782|I|GELua.levelLoading|*** Loaded objects in 6.434 s
152.785|I|GELua.levelLoading|*** Loaded ai.map in 0.003 s
152.818|I|GELua.levelLoading|*** Loaded decals in 0.033 s
152.820|I|BeamNGPhysicsPlugin::enableSimulation|RELOADING COLLISION
152.897|I|BeamNGPhysicsPlugin::reload|*** generated physics collision in 0.076s
152.955|I|libbeamng.engine.staticCollision|*** Loaded Static Collision, containing 270591 tris, in 0.053 s
152.959|I|BeamNGPhysicsPlugin::reload|*** reloaded physics in 0.138s
152.961|I|GELua.levelLoading|*** Started physics in 0.143 s
152.974|I|GELua.levelLoading|*** Loaded player and camera in 0.013 s
153.007|E|translate|unable to find translation for key 'test'. Default: 'test'
153.011|W|ConsoleTypeTypeColorF::setData|TypeColorF() - Invalid single argument of 'None' could not be interpreted as a stock color name.  Using default.
153.014|W|StockColor::colorF|Could not find stock color name 'None', defaulting to 'White'
153.016|W|ConsoleTypeTypeColorF::setData|TypeColorF() - Invalid single argument of 'None' could not be interpreted as a stock color name.  Using default.
153.018|W|StockColor::colorF|Could not find stock color name 'None', defaulting to 'White'
153.021|W|ConsoleTypeTypeColorF::setData|TypeColorF() - Invalid single argument of 'None' could not be interpreted as a stock color name.  Using default.
153.023|W|StockColor::colorF|Could not find stock color name 'None', defaulting to 'White'
153.029|I|BeamNGVehicle::spawnObject|Spawning object 'etk800' with default config
169.139|E|GELua.scenario_scenarios.scenarios|Prefab: test already exist in level
169.141|I|BeamNGPhysicsPlugin::enableSimulation|RELOADING COLLISION
169.238|I|BeamNGPhysicsPlugin::reload|*** generated physics collision in 0.095s
169.240|I|BeamNGPhysicsPlugin::reload|*** reloaded physics in 0.097s
169.409|I|GELua.levelLoading|*** Loaded everything in 24.941 s
169.489|I|libbeamng.engine.staticCollision|*** Loaded Static Collision, containing 270591 tris, in 0.041 s
171.999|I|GELua.gameplay_missions_missions.|Loaded 200 total missions: 58 from files, 142 from generators.
174.170|I|GELua.main|Player #0 vehicle switched from: nil to: id 9011 (/vehicles/etk800/)
188.439|I|GELua.scenario_waypoints.waypoints|initialise called....
188.459|I|GELua.scenario_waypoints.waypoints|No lapconfig found or lapconfig empty. Not initializing waypoints system
189.112|I|GELua.util_researchGE.ResearchGE|New vehicle connection: 9011, 54632
189.195|E|GameEngineLua:Exception|/lua/common/luaBinding.lua:51: bad argument #1 to 'rawget' (table expected, got nil)
=============== Stack Traceback >> START >>
(1)  C function 'function: 0x01b1b459b6a8'
(2) global C function 'rawget'
(3) Lua metamethod '__index' at file '/lua/common/luaBinding.lua:51'
  Local variables:
  t = table: 0x01b1ea7caf80  {__index:function: 0x01b1e9ffae68, __newindex:function: 0x01b1e9ffaec8, getStaticColDebugEnabled:function: 0x01b1ea7d79e8 (more...)}
  k = string: "Annotation"
  mt = table: 0x01b1ea7caf80  {__index:function: 0x01b1e9ffae68, __newindex:function: 0x01b1e9ffaec8, getStaticColDebugEnabled:function: 0x01b1ea7d79e8 (more...)}
  res = nil
  origgetters = nil
(4) Lua local 'handler' at line 833 of chunk 'lua/ge/extensions//util/researchGE.lua'
  Local variables:
  skt = tcp{client}: 000001B1A955E0A0
  msg = table: 0x01b1c7e98bf8  {type:EngineFlags, flags:table: 0x01b1c7e98998}
  flags = table: 0x01b1c7e98998  {lidar:true, annotations:true}
  (*temporary) = table: 0x01b1ea7caf80  {__index:function: 0x01b1e9ffae68, __newindex:function: 0x01b1e9ffaec8, getStaticColDebugEnabled:function: 0x01b1ea7d79e8 (more...)}
  (*temporary) = table: 0x01b1c7e98bf8  {type:EngineFlags, flags:table: 0x01b1c7e98998}
  (*temporary) = number: 3
  (*temporary) = number: 2
  (*temporary) = number: 6.95141e-310
  (*temporary) = number: 9.2077e-312
(5) Lua field 'checkMessages' at line 113 of chunk 'lua/common/utils/researchCommunication.lua'
  Local variables:
  E = table: 0x01b1a41a1720  {handleCreateCube:function: 0x01b1eb07e470, notifyUI:function: 0x01b1eae43920 (more...)}
  clients = table: 0x01b1a9792858  {1:tcp{client}: 000001B1A97E2368, 2:tcp{client}: 000001B1A955E0A0}
  message = table: 0x01b1c7e98bf8  {type:EngineFlags, flags:table: 0x01b1c7e98998}
  err = nil
  readable = table: 0x01b1c56b8eb8  {1:tcp{client}: 000001B1A955E0A0, tcp{client}: 000001B1A955E0A0:1}
  writable = table: 0x01b1c5990698  {1:tcp{client}: 000001B1A97E2368, 2:tcp{client}: 000001B1A955E0A0, tcp{client}: 000001B1A97E2368:1 (more...)}
  error = nil
  ret = boolean: true
  (for index) = number: 1
  (for limit) = number: 1
  (for step) = number: 1
  i = number: 1
  skt = tcp{client}: 000001B1A955E0A0
  msgType = string: "handleEngineFlags"
  handler = Lua function '?' (defined at line 830 of chunk lua/ge/extensions//util/researchGE.lua)
(6) Lua local 'func' at line 163 of chunk 'lua/ge/extensions//util/researchGE.lua'
  Local variables:
  dt = number: 0.434086
  obsoleteFuncIndices = table: 0x01b1b7cc0478  {}
(7) Lua field 'hook' at line 654 of chunk 'lua/common/extensions.lua'
  Local variables:
  funcName = string: "onPreRender"
  funcList = table: 0x01b1d43fad50  {1:function: 0x01b1ead05b58, 2:function: 0x01b1eafb4338, 3:function: 0x01b1ead94908 (more...)}
  (for generator) = C function: builtin#6
  (for state) = table: 0x01b1d43fad50  {1:function: 0x01b1ead05b58, 2:function: 0x01b1eafb4338, 3:function: 0x01b1ead94908 (more...)}
  (for control) = number: 1
  _ = number: 1
  func = Lua function '?' (defined at line 102 of chunk lua/ge/extensions//util/researchGE.lua)
(8) Lua function 'luaPreRender' at file '/lua/ge/main.lua:302' (best guess)
  Local variables:
  dtReal = number: 0.434086
  dtSim = number: 0.05
  dtRaw = number: 0.0921748
  updateUIData = boolean: true
--------------- << END <<



<img width="960" alt="BNG_not_working" src="https://user-images.githubusercontent.com/94268081/149770630-67f1a570-b496-4724-aabe-d75cb8cb4224.PNG">