Navisim app for tracking objects in ISAAC SIM.

I am looking to use the navigation stack in ISAAC SIM in such a way that

  1. the objects in the simulation are detected using 3D bounding boxes and a tag that show up in the simulation interface
  2. The lidar scan data gives the distance of the object from the robot and displays that distance either as a number appearing in the simulation or on the terminal as a print statement.
    Any help or pointers on how to proceed?