Gazebo

Gazebo: Open-source robotics simulator for rapid prototyping and testing.

Gazebo is a robust 3D robotics simulator, offering high-fidelity physics, realistic sensor generation, and a rich set of plugins for diverse robotic applications. It enables developers to accurately test algorithms, design robots, and perform regression testing in a virtual environment before deployment. With a strong community and extensive documentation, Gazebo supports a wide range of robots, from manipulators to autonomous vehicles, and integrates seamlessly with frameworks like ROS (Robot Operating System).

https://gazebosim.org/