Is NuRec render_lidar supported from the Python CARLA examples?

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Is NuRec render_lidar supported from the Python CARLA examples?

Hi, I am working with the NuRec CARLA examples and trying to add a LiDAR sensor.

From reading the current Python example code, it looks like the high-level NuRec Python integration is mainly camera-oriented:

• NurecScenario.add_camera(...) creates a NurecSensor
• NurecSensor.on_world_tick(...) calls NurecRenderer.render(...)
• NurecRenderer.render(...) builds an RGB render request and calls client_service.render_rgb(...)
• the returned JPEG bytes are decoded into an RGB image

However, the generated gRPC/proto layer appears to already expose LiDAR support:

• LidarSpec
• LidarRenderRequest
• LidarRenderReturn
• SensorsimService.render_lidar(...)

I could not find a corresponding Python-level wrapper such as:

• NurecScenario.add_lidar(...)
• NurecRenderer.render_lidar(...)
• NurecLidarSensor

So my understanding is that the backend/proto has LiDAR rendering capability, but the current Python examples do not expose it as a convenient API in the
same way as RGB cameras.

My questions are:

1. Is render_lidar intended to be used directly from Python users, or is it currently considered internal/experimental?
2. Is there a recommended example for constructing LidarRenderRequest correctly, especially for sensor pose, dynamic objects, and coordinate transforms between CARLA and NuRec?
3. For manual-control use cases, should users prefer CARLA native LiDAR sensors (sensor.lidar.ray_cast) attached to the ego vehicle, or is NuRec-rendered
   LiDAR expected to be supported?
4. Are there plans to add a high-level Python API similar to add_camera(...), for example add_lidar(...)?

The main confusion is that render_lidar exists in the service API, but the Python example layer only wraps RGB rendering. It would be helpful to know whether this is intentional, unfinished, or simply not documented yet.