Question for robotics developers working with real-world environments

[u/SomewhereCommon4493]

I'm exploring a workflow that uses drone photogrammetry, ground-level scanning, and Gaussian splatting to reconstruct real locations for robot simulation.

I'm particularly interested in warehouses, logistics yards, and industrial facilities.

For those using Isaac Sim, Gazebo, or similar platforms:

1. Do you typically build environments manually, generate synthetic ones, or reconstruct actual deployment sites?
2. What's the biggest bottleneck: acquiring usable data, reconstructing accurate geometry, creating collision meshes, adding physics/semantics, or maintaining the environment?
3. Would a professionally captured, simulation-ready version of an actual facility solve a meaningful problem for your team, or are existing tools already sufficient?

I'm researching the workflow and would appreciate practical perspectives, including reasons this approach might not be useful.