Sensor and Replicator ground-truth support for OpenUSD ParticleField Gaussian splats in Isaac Sim 6.0.1

[Logan-Skye]

Context

Isaac Sim 6.0.1 and Kit/RTX 110.1 now support native OpenUSD ParticleField3DGaussianSplat rendering. The current Omniverse documentation explains visual integration (path tracing, shadows, reflections/refractions, and display-referred sRGB), and NVIDIA's 3DGRUT documentation says the older NuRec representation will be replaced by ParticleField.

For robotics and synthetic-data work, I have not found a documented sensor/annotator contract for this geometry type.

Questions

For a native ParticleField3DGaussianSplat prim in Isaac Sim 6.0.1:

1. Does it contribute valid values to the following Replicator annotators/render products?
   • distance_to_camera / distance_to_image_plane
   • normals
   • semantic and instance segmentation
   • occlusion and motion vectors
2. Is it intersected by RTX LiDAR and RTX radar sensors, or are those sensors limited to conventional/proxy geometry?
3. Can semantic labels be attached directly to a ParticleField prim and appear in segmentation output? If per-object or per-region labels inside one field are needed, is partitioning into multiple prims the supported approach?
4. If these outputs are unsupported or only appearance-derived, is the recommended production setup a registered proxy mesh/collider for sensor ground truth plus the ParticleField for RGB appearance?
5. Is there a published compatibility matrix or sample that validates RGB, depth, segmentation, LiDAR, and radar against the same ParticleField scene?

I am looking for the supported behavior, not merely whether an AOV happens to contain nonzero pixels, because physically meaningful ground truth is the deciding factor for using captured Gaussian environments in simulation.

Relevant documentation already checked:

• Omniverse Gaussian Splats / Particle Fields documentation
• OpenUSD ParticleField asset requirements
• 3DGRUT export documentation (standard ParticleField vs legacy NuRec)

[PeterL-NV]

Hi, to get better support, please open topics in NuRec Forum for your questions.