How to add person objects like warehouse workers in Issac Sim factory of future application

I am trying to recreate the below application in Isaac Sim. But I am wondering how to add the warehouse worker objects or person objects in the Scene.
[Matrix Production — ISAAC 2020.2 documentation ]
(Matrix Production — ISAAC 2020.2 documentation)

I am wondering whether I have to use Isaac Sim Unity 3D or Omniverse Isaac Sim. I would like to get synthetic data with the scenario similar to this using Isaac Sim and SDK but I couldn’t find latest user guide on Carter Sim

Isaac Sim on Omniverse is preferred as Isaac Sim on Unity is deprecated. The following may be of help if you’re trying to add items to generate synthetic data from: Synthetic Data Generation Samples — Omniverse Robotics documentation