UR5 simulation on Windows Gazebo without ROS

I am setting up a UR5 simulation on windows using Gazebo and I have managed to load in the model and even set its joint positions using a simple plugin.
My end goal is to be able to move it to given cartesian poses. Almost all tutorials online involve ROS/Moveit and the Universal Robotics C++ library which is supported only on windows.
Is there a way to have a fully functioning UR5 simulation on windows using gazebo and without ROS?