Why is the lidar status in 16 dimensions and what do they represent?

[needtorch]

I use the environment "Safety[Agent]Goal1-v0". After the step, I found that next_observation contains the data returned by the radar. I am confused about the 16-dimensional data returned by the goal lidar and the 16-dimensional data returned by the hazards lidar. What do they represent?

[muchvo]

Please refer to this page, which provides a detailed description of the radar mechanism.