@jwson3
You need to stream the simulated robot’s joint configurations out on ROS to an external controller. That controller might be implemented by the OEM and may require interpolating / buffering the streamed configuration.
An important consideration is the simulation needs to be synchronized with the physical robot, so the physical robot should be streaming out the measured joint configurations on ROS and before trying to control the physical robot, we need to make sure the simulated robot is set to start from the measured joint configuration.
We have an example for Franka using the FrankaROS interface demonstrating that pipeline and handshake in the Omni Isaac Cortex system. But it’s not yet implemented out of the box for general robots. Those tools, though, are a good starting point for understanding how such a pipeline can be designed, and they’re generally robot agnostic. See Cortex: Controlling Physical Robots.