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Can I do a step-by-step simulation in Gazebo run by MatLab or Simulink?

I am looking into simulation softwares and I could not find the direct answer. I would like to run a robot from MatLab/Simulink with simulation in Gazebo. It is crucial for me that the simulation software supports step-by-step simulation and gets the data back to MatLab.

So the question is does Gazebo support that kind of simulation? And is it possible to get documentation on the topic.