How to use LiDAR to collect road simulation data set?

Hello,
I want to collect some road data on vehicles, pedestrians and trees. Could you please provide some reference documents on what I should do? Thanks a lot.

Hi,

I’ve collected some links, which might be interesting for you.

https://developer.nvidia.com/drive/simulation (I think you have to register for the NVIDIA developer programm to have access to the NVIDIA DRIVE Sim)

However, I must say that so far I have only worked with Isaac Sim.

Hi Robin,
Thank you for the links. However, I actually want to ask whether the collection of data sets can be carried out under Isaac Sim ( We have not yet obtained the trial account of Drive Sim ).
I mean, now I can only see shelves and boxes in Isaac Sim, just like

How can I collect some road data on vehicles, pedestrians and trees ( by LiDAR ) ?
Hope for your reply. Thx.