Question about PolySpatial Spatial Data

Hi there,
I am relatively new to working with PolySpatial (I have worked natively with VisionOS before) and am currently reading through the docs.
I was wondering if there is currently any support for accessing spatial data of the AVP (lidar scan data, e.g. of the room I am in) and whether it is being worked on?

I know that this is possible developing native but unsure if it is with polyspatial.

Thank you!