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What do you mean by simulating a motor model there? It is not exactly clear - do you want to have an input to the motor model inside the simulation? So it produces forces etc. as an output?

You could use MoveIt and it's controllers, e.g. like here:

https://medium.com/@tahsincankose/custom-manipulator-simulation-in-gazebo-and-motion-planning-with-moveit-c017eef1ea90
https://github.com/cambel/ur3

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