diff --git a/sciurus17_description/robot_description_loader.py b/sciurus17_description/robot_description_loader.py
index e555f0b..1f7ebae 100755
--- a/sciurus17_description/robot_description_loader.py
+++ b/sciurus17_description/robot_description_loader.py
@@ -21,6 +21,7 @@ def __init__(self):
         self.use_gazebo_head_camera = 'false'
         self.use_gazebo_chest_camera = 'false'
         self.use_mock_components = 'false'
+        self.use_isaacsim = 'false'
         self.gz_control_config_package = ''
         self.gz_control_config_file_path = ''
 
@@ -36,6 +37,7 @@ def load(self):
                 ' use_gazebo_head_camera:=', self.use_gazebo_head_camera,
                 ' use_gazebo_chest_camera:=', self.use_gazebo_chest_camera,
                 ' use_mock_components:=', self.use_mock_components,
+                ' use_isaacsim:=', self.use_isaacsim,
                 ' gz_control_config_package:=', self.gz_control_config_package,
                 ' gz_control_config_file_path:=', self.gz_control_config_file_path
                 ])
diff --git a/test/test_robot_description_loader.py b/test/test_robot_description_loader.py
index e3a2237..4f0184c 100644
--- a/test/test_robot_description_loader.py
+++ b/test/test_robot_description_loader.py
@@ -88,3 +88,17 @@ def test_use_mock_components():
     rdl.gz_control_config_package = 'sciurus17_description'
     rdl.gz_control_config_file_path = 'config/dummy_controllers.yaml'
     assert 'mock_components/GenericSystem' in exec_load(rdl)
+
+
+def test_use_isaacsim():
+    # use_isaacsimが変更され、xacroにIsaac Sim向けのpluginがセットされることを期待
+    rdl = RobotDescriptionLoader()
+    rdl.use_isaacsim = 'true'
+    assert 'topic_based_ros2_control/TopicBasedSystem' in exec_load(rdl)
+
+
+def test_use_isaacsim_head_camera():
+    # use_isaacsimが変更され、xacroにhead_camera_color_frameがセットされることを期待
+    rdl = RobotDescriptionLoader()
+    rdl.use_isaacsim = 'true'
+    assert 'name="head_camera_color_frame"' in exec_load(rdl)
diff --git a/urdf/sciurus17.ros2_control.xacro b/urdf/sciurus17.ros2_control.xacro
index 3a584ab..ee9f948 100644
--- a/urdf/sciurus17.ros2_control.xacro
+++ b/urdf/sciurus17.ros2_control.xacro
@@ -3,6 +3,7 @@
 
   <xacro:macro name="sciurus17_ros2_control_settings"
                params="use_mock_components:=false
+                       use_isaacsim:=false
                        port_name:=/dev/sciurus17spine
                        baudrate:=3000000
                        timeout_seconds:=1.0
@@ -10,15 +11,22 @@
 
     <ros2_control name="sciurus17" type="system">
       <hardware>
-        <xacro:if value="${use_mock_components}">
-          <plugin>mock_components/GenericSystem</plugin>
+        <xacro:if value="${use_isaacsim}">
+          <plugin>topic_based_ros2_control/TopicBasedSystem</plugin>
+          <param name="joint_commands_topic">/joint_command</param>
+          <param name="joint_states_topic">/joint_states</param>
         </xacro:if>
-        <xacro:unless value="${use_mock_components}">
-          <plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
-          <param name="port_name">${port_name}</param>
-          <param name="baudrate">${baudrate}</param>
-          <param name="timeout_seconds">${timeout_seconds}</param>
-          <param name="manipulator_config_file_path">${manipulator_config_file_path}</param>
+        <xacro:unless value="${use_isaacsim}">
+          <xacro:if value="${use_mock_components}">
+            <plugin>mock_components/GenericSystem</plugin>
+          </xacro:if>
+          <xacro:unless value="${use_mock_components}">
+            <plugin>sciurus17_hardware/Sciurus17Hardware</plugin>
+            <param name="port_name">${port_name}</param>
+            <param name="baudrate">${baudrate}</param>
+            <param name="timeout_seconds">${timeout_seconds}</param>
+            <param name="manipulator_config_file_path">${manipulator_config_file_path}</param>
+          </xacro:unless>
         </xacro:unless>
       </hardware>
 
diff --git a/urdf/sciurus17.urdf.xacro b/urdf/sciurus17.urdf.xacro
index 5f0fe19..642c649 100644
--- a/urdf/sciurus17.urdf.xacro
+++ b/urdf/sciurus17.urdf.xacro
@@ -21,6 +21,7 @@
   <xacro:arg name="use_gazebo_head_camera" default="false" />
   <xacro:arg name="use_gazebo_chest_camera" default="false" />
   <xacro:arg name="use_mock_components" default="false" />
+  <xacro:arg name="use_isaacsim" default="false" />
   <xacro:arg name="port_name" default="/dev/sciurus17spine" />
   <xacro:arg name="baudrate" default="3000000" />
   <xacro:arg name="timeout_seconds" default="1.0" />
@@ -118,6 +119,7 @@
 
     <xacro:sciurus17_ros2_control_settings
       use_mock_components="$(arg use_mock_components)"
+      use_isaacsim="$(arg use_isaacsim)"
       port_name="$(arg port_name)"
       baudrate="$(arg baudrate)"
       timeout_seconds="$(arg timeout_seconds)"
@@ -135,6 +137,10 @@
 
     <xacro:sciurus17_gazebo_ros2_control_settings/>
 
+  </xacro:if>
+
+  <xacro:if value="${'$(arg use_gazebo)' == 'true' or '$(arg use_isaacsim)' == 'true'}">
+
     <joint name="head_camera_color_joint" type="fixed">
       <origin xyz="0 0.015 0" rpy="0 0 0" />
       <parent link="head_camera_link" />
@@ -152,4 +158,5 @@
     <link name="head_camera_color_optical_frame"/>
 
   </xacro:if>
+
 </robot>