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Stepping ignition from a ROS node

Hello community!

I'm creating reinforcement learning system using Ignition as simulator. For this purpose I need to step physics in the simulation from within a ROS node and further more it would be nice to be able to reset the simulation too. I'm using Ubuntu 20.04, with ROS Noetic and Ignition Dome. How is the most effective and simple way to do this? Solution involving C++ or Python is fine in case I need to create a service from scratch.