I will be using Gazebo for physics and Isaac Sim for rendering and will therefore need to run the two simulators in lockstep so that any camera or LiDAR data from Isaac Sim is accurately timestamped. On the Gazebo side I am planning on implementing a pre-update system plugin to handle this, however I am unsure about the implementation on the Isaac Sim side.
I think the easiest method would be to implement something in a Python Isaac Sim application, but I would like to use C++ for this and so I’m wondering if it is possible to control physics stepping using the C++ extension API. I would appreciate if anybody knows if this is possible and would be able to point me to the relevant documentation.