How to interact with a running isaac sim scene with python api?

Hi, all, I have a question here

I want to control a cube’s position through a ros2 topic, I know there’s a standalone example for this(omni.isaac.ros2_bridge/, but this is a standalone version, what I want is to control object position in a running scene which started by a isaac sim app(like a hospital scene). Any tutorial or reference link about this topic?

Or I need to write a action graph node for a custom topic? I find that the offical example has some node like ros2 imu subsciber, but I can’t find the original code for this kind of node, does anyone know how to write this kind of node and import it to isaac sim action graph?

3. Interactive Scripting — Omniverse IsaacSim latest documentation (
Isaac Sim Extension Templates — Omniverse IsaacSim latest documentation (

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Thanks! I’ll dig deeper in the reference link to achieve my goal, Omniverse is far more interesting than I thought