How do I control an Arm Joint (series of Dynamixel Servos XM430 ) using ISAAC?

I want to create an arm and move it. I’m planning to have a base and joint, with 2 links(L shape). From simple_joint_control example, I got to know that it requires a kinematic-json file, a planner file and a simulation/hardware graph. But I’m not able to understand, how do I write simulation/hardware subgraph for manipulation. I did check (simple_joint_control) json, but it includes multiple subgraphs and seems like they have their own function. What should be the structure of the file? Is there any example of hardware subgraph for arm manipulation? I’m planning work using only ISAAC, but if there’s any alternative please share @nvidia