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An update to my above comment about the UR Gazebo Classic simulation. The issue there was related to the ODE parameter fmax, see
https://github.com/UniversalRobots/Universal_Robots_ROS2_Gazebo_Simulation/issues/19#issuecomment-1481929619
and more detail here:
https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/pull/55
Still don't exactly know how it should be fixed formally, but there is a workaround if you modify the ur_description package to add friction to the joint <dynamics> tags in the URDF.
This friction parameter passes through to the ODE physics engine and sets fmax, and then the UR Gazebo simulation works.
I also did seem to get a working UR Ignition simulation on ROS Rolling natively installed on Ubuntu Jammy, but I didn't dig much into whether everything was working.
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