Best method to bring CPP functionality to Isaac Sim?

I am new to Isaac Sim and looking for ways to customize building environments. I have already learnt about the Python console to code in, but was looking for a similar method to write and load CPP code as objects, physics, etc in Isaac Sim.

After going through the website for a few days, it seems that Sample Connect, Connect, and Create are all ways of creating extensions that might do the trick… but they don’t seem exactly it.

Forum posts from early this year said there was a roadmap for creating CPP functionality to Isaac Sim but were resolved without an answer about if that were ever completed. (Source: Access Isaac Sim Sensor data in a Kit C++ extension)

What is the best way to include CPP code in Isaac Sim? Is there anything pre-built or some best practices to get around the fact that there might not be yet?

Thanks.