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You might find either of these interesting:

• https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation for gazebo classic, or
• https://github.com/AndrejOrsula/panda_ign_moveit2 for ignition gazebo

Not sure how stable/recently updated these are though. Bear in mind that these might not be that far from the "kinematic" simulations in RViz as they might appear, depending on the controllers that they use under the hood (as I discuss a bit in this question). But depending on what you need, they might be sufficient.

You might find either of these interesting:

• https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation for gazebo classic, or
• https://github.com/AndrejOrsula/panda_ign_moveit2 for ignition gazebo

Not sure how stable/recently updated these are though. Bear in mind that these might not be that far from the "kinematic" simulations in RViz as they might appear, depending on the controllers that they use under the hood (as I discuss a bit in this question). But depending on what you need, they might be sufficient.