How to give user input to Isaac Sim while Simulation is running using Python API of Omniverse?

While runnning Isaac Sim using python script, how do I pass arguments in certain robotic simulations without closing the sim to get desired output in the simulation.

For example I want to move my robot joints to a certain set of values and I want to keep changing those values during the simulation and I want the user to give inputs through a .txt file . How can I do that ?