LiDAR intensity output, required scene assets, and next ALPASIM release schedule

[YamatoDoi]

Hello ALPASIM team,

I am currently evaluating ALPASIM for an experiment that requires per-point LiDAR reflectivity or intensity values.

I tested a version downloaded from the GitHub repository around May 4, 2026. The latest commit in my local repository was:

• Author: jarcherNV
• Date: May 4, 2026
• Commit title: Fix GitHub to GitLab sync to preserve GitLab CI files (#82)

My test environment was:

• ALPASIM from the GitHub repository
• Sensorsim / NRE 26.02
• The tutorial sceneset and rollout
• Sensorsim gRPC API
• LiDAR types: PANDAR128 and AT128

I was able to obtain the LiDAR XYZ point cloud successfully. However, I could not obtain reflectivity or intensity values.

The results were:

PANDAR128:
  XYZ points: 336529
  Intensity values: 0

AT128:
  XYZ points: 336529
  Intensity values: 0

I checked both of the intensity-related fields in LidarRenderReturn:

point_intensities
point_intensities_buffer

Both fields were empty for PANDAR128 and AT128.

I also checked the available LidarSpec fields and the Sensorsim serve-grpc options, but I could not find an option such as:

enable_intensity
return_intensity
include_intensity
reflectance

The renderer configuration contained the following setting:

enable_sensor_features: true
# Sensor-specific extended features (e.g., LiDAR intensity, reflectance)

However, the Sensorsim log contained the following message:

The model loaded has no intensity prediction

The LiDAR extra-signal tensors also appeared to have zero feature dimensions:

lidar_extra_signal with shape (..., 0)

Based on these results, it appears that the gRPC API supports intensity fields, but the tutorial model, scene asset, or sceneset used in my test does not include LiDAR intensity prediction.

Could you please clarify the following points?

1. Is per-point LiDAR intensity currently supported by ALPASIM and Sensorsim?
2. Is there a model, scene asset, or sceneset that includes LiDAR intensity prediction?
3. If such an asset exists, which Sensorsim / NRE version and configuration are required?
4. Is render_lidar() the correct API for obtaining intensity through LidarRenderReturn.point_intensities or point_intensities_buffer?
5. Is LiDAR intensity support planned for a future public release?
6. I was considering using the June or July release for my experiment, but I could not find a June release. When is the next ALPASIM release expected to be available?

I have documented the diagnostic results and can provide additional details if needed.

Thank you for your help and for developing ALPASIM.