So far, in every example urdf that I can find, the tag for ray sensors has one of three settings: false, fan, or lines. I've tried my best to search for some documentation on these options, but could find none. The goal is get Gazebo to represent a laser scan with just the range points (much like the sensor_msgs/LaserScan topic appears in Rviz).

Could someone point me to some documentation and/or explain if this is possible?