How to use the beamngpy.sensors.Lidar function in beamngpy

def test_lidar(beamng):
    scenario = Scenario('west_coast_usa', 'lidar_test')
    vehicle = Vehicle('test_car', model='etk800')

    lidar = Lidar()
    vehicle.attach_sensor('lidar', lidar)

    scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=(0, 0, 45))
    scenario.make(beamng)

    with beamng as bng:
        bng.load_scenario(scenario)
        bng.step(120)

        sensors = bng.poll_sensors(vehicle)

        arr = sensors['lidar']['points']
        ref = arr[0]
        eq = arr[np.where(arr == ref)]
        assert eq.size != arr.size

def main():
    setup_logging()

    beamng = BeamNGpy('localhost', 64256)
    scenario = Scenario('west_coast_usa', 'lidar_tour',
                        description='Tour through the west coast gathering '
                                    'Lidar data')

    vehicle = Vehicle('ego_vehicle', model='etk800', licence='LIDAR')
    lidar = Lidar()
    vehicle.attach_sensor('lidar', lidar)

    scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=(0, 0, 45))
    scenario.make(beamng)

    bng = beamng.open(launch=True)
    try:
        bng.load_scenario(scenario)

        window = open_window(SIZE, SIZE)
        lidar_vis = LidarVisualiser(Lidar.max_points)
        lidar_vis.open(SIZE, SIZE)

        bng.set_steps_per_second(60)
        bng.set_deterministic()

direction = (0, 1, 0)
    fov = 120
    resolution = (512, 512)
    front_camera = Camera(pos, direction, fov, resolution,
                          colour=True, depth=True, annotation=True)
    pos = (0.0, 3, 1.0)
    direction = (0, -1, 0)
    fov = 90
    resolution = (512, 512)
    back_camera = Camera(pos, direction, fov, resolution,
                         colour=True, depth=True, annotation=True)

    gforces = GForces()
    electrics = Electrics()
    damage = Damage()
    lidar = Lidar(visualized=False)
    timer = Timer()

    # Attach them
    vehicle.attach_sensor('front_cam', front_camera)
    vehicle.attach_sensor('back_cam', back_camera)
    vehicle.attach_sensor('gforces', gforces)
    vehicle.attach_sensor('electrics', electrics)
    vehicle.attach_sensor('damage', damage)
    vehicle.attach_sensor('timer', timer)

    scenario.add_vehicle(vehicle, pos=(-717.121, 101, 118.675), rot=(0, 0, 45))

    # Compile the scenario and place it in BeamNG's map folder
    scenario.make(beamng)

    # Start BeamNG and enter the main loop