RTX Lidar extension for Radial Velocity data output

I have the RTX lidar working and reporting data, but would like to model an FMCW lidar which would also include a measurement of instantaneous radial velocity.
I have a few questions related to this:

  1. Is there a simple way to get the kinematic information of the point on the object that an RTX lidar ray hits?
  2. Is there documentation on how to get semantic segmentation information for the RTX lidar data?
  3. is there a way to get the kinematic information of a specific point on an actor in the scene?
  4. Failing all that, is there a codebase or example of how I could implement an FMCW lidar sensor or extend the solid state RTX lidar myself?

Thanks for any pointers,

With the 2023.1.0 release of IsaacSim, you can get the velocity direction for all the returns that are valid. See the hitPointNormals/velocities output from the Annotators.

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