what is the specific form of the protos communicating between sim and sdk?

We want to build a robot simulation platform in isaac sim, but when we need to control the robot by joints, we don’t know the specific form of the protos of sending control signals to sim model and the protos of getting the joints’ state from the sim. Can you please provide a real example file of the command protos to us?@Nvidia


Unfortunately, at this moment there is no proto for Manipulator and joint control (setting and getting) between IsaacSDK and Sim.


Can you provide a example of the actuator messages for the communication between carter_sim sdk and sim(a real file for messages is best)?

Hi Liila, any update? I believe there is a proto for this now, right? ActuatorGroupProto?