How to Move Objects through Code and Apply Force with Gazebo

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Hello everyone,

I'm looking for a way to move objects through code in Gazebo and apply force so that they move through the Gazebo physics engine. Currently, I'm trying to use the "set_pose" service of the "UserCommand" plugin, but I'm running into an issue: by setting the position directly, the objects don't collide with each other when I move them.

I would like to know if there is any functionality implemented in Gazebo to apply a certain force to an object through its name. If there is, could you please provide me with information on how to do it? If not, should I try to implement this functionality in the "UserCommand" code?

I appreciate any information you can provide on this matter. Thank you in advance!