GAZEBO & ROS robot simulation (potentially other software)

Good day, I need to run simulation scenarios to validate if we choose right robot motors for our biped robot. For example: 1, Walking (standing > acceleration > deceleration > standing) 2, Standing up from the ground (laying on the floor > stand up) 3, few more minor scenario (simple squad or else like stand up on toes) What we can provide you: 1, Kinematic model of robot including all weights (potentially even provide the model) 2, Libraries and kinematic solvers with a biped motion planning libraries & codes (OMPL, MoveIT and many more) p.s.: This simulation has to clearly show what torque and RPM we need in a given dynamical robot motion scenarios.