Webot - https://cyberbotics.com/

Webots is an open source robot simulator that provides a complete development environment to model, program and simulate robots. Thousands of institutions worldwide use it for R&D and teaching. Webots has been codeveloped by the Swiss Federal Institute of Technology in Lausanne, thoroughly tested, well documented and continuously maintained since 1996. It is the most efficient solution to quickly get professional results including:

The development of complex robotics systems — rapid prototyping from scratch

The simulation of autonomous cars — equipped with sensors and interacting with environments

The validation of new robotics research — deep learning, evolutionary algorithms, multi-agent, etc.

The setup of practical exercises — for a robotics classroom

The training of human pilots — with joysticks, driving wheels, pedals and VR interfaces

The delivery of customized simulations — directly to your customers

Webots Features

Accurate Physics Simulation — realistic simulations rely on calibrated models

Libraries of Robots, Sensors, Actuators and Objects — building blocks for your simulations

Import / Export — CAD models, OpenStreetMap, movies, web

API and Plugins — programming languages, integrated IDE, scene tree editor

Multi-plaform — Windows, Linux, macOS (and more)