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Getting forward dynamics of a model

I have a robot model in a form of an sdf file (relatively simple). Now, I have a certain control policy which manipulates torques applied to robot joints, but the real system is set up in a way that it receives position setpoints.

So what I would like to get is the bare minimum forward dynamics functionality that would allow me to input the robot pose and joint states and output the positions.

Is that possible with Gazebo, and if so, how?

Getting forward dynamics of a model

I have a robot model in a the form of an sdf file (relatively simple). Now, I have a certain control policy which manipulates torques applied to robot joints, but the real system is set up in a way that it receives position setpoints.

So what I would like to get is the bare minimum forward dynamics functionality that would allow me to input the robot pose and joint states and output the positions.

Is that possible with Gazebo, and if so, how?

Also, it is probably worth mentioning that the real system is real-time and that it is a control policy (i.e. adaptive to the environment) we are talking about, so simply generating the trajectory in Gazebo would not work.