webots VS gz-sim

Open Robotics Resources - Provides guides and documentation for robotics simulation.

Deepbots is an open-source framework facilitating reinforcement learning in Webots. Webots provides easy-to-use tools to create your own worlds/robots, and deepbots interfaces Webots with any gym-compatible RL agent. It does this by guiding even the most novice users to create gym-style environments that are compatible with Webots (we have recreated the classic control problem CartPole successfully in Webots, among others). Deepbots handles all low-level details to interface the environment with the simulator.

FreeCAD has a robotics workbench, and it is free software. There's also the Webots Open Source Robot Simulator which comes with lots of robots out of the box and is also free software, meaning you can not only download and use it free of charge, you can also influence development by fixing bugs yourself or filing issue reports.

have you tried webots? https://cyberbotics.com/

The complete change log is available here: https://www.cyberbotics.com/doc/reference/changelog-r2023

Get it now from https://cyberbotics.com or https://github.com/cyberbotics/webots/releases/tag/R2023a

Cyberbotics remains committed to provide high quality, free and open source software to the robotics community on the long run.

Seriously, everyone thinking of robotics should know about this concept. Save yourself hundreds of thousands of dollars and try out the operating environment, your robot design, your sensors, your code, your trouble shooting skills and the newest hardware on a free piece of software. https://cyberbotics.com/

Webots https://cyberbotics.com/, is a good resource for coding robots using Python.

See the official announcement and change log. Get it now from GitHub or https://cyberbotics.com

a free robot simulator i happen to be aware of, you may find it useful but I never actually used it: https://cyberbotics.com/

If you still are stuck on this, there are several good examples on the official Github (new Gazebo) https://github.com/gazebosim/gz-sim/tree/gz-sim7/examples/plugin

It has a physics engine used to simulate the robot, Gazebo (https://gazebosim.org/). It might be an exciting pursuit for you if you're looking at robots. Not sure how useful it would be for stimulating other things but I am guessing with enough study of the platform it could be achieved.

I'm not an engineer, and I haven't gotten around trying these apps yet, but perhaps you might be interested in looking into Webots or perhaps Gazebo.

find here some examples how to https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/examples/worlds/multicopter_velocity_control.sdf

Particle effects : Full support for particle emitters, which affect sensors like depth cameras and lidars in a realistic way. Try it out with ign gazebo particle_emitter.sdf.