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.