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Spawn SDF and control joints

I have an SDF file of a robot, and would like to be able to control it's joints in the same way as shown in the tutorial here.

The reason why I need this is that I need gearbox joints in my model, like in the example here, but they cannot be parsed in URDF. On the other hand, I also need to able to control joint torques, which seems like it cannot work in SDF.