What model simulation works with Javascript and open source microcontrollers?

Is there model simulation software for hobbyists?

I want to use it for a robot arm project.

For beginners, MakeCode Lego MINDSTORMS is model simulation based on Lego products only that uses modified JavaScript and microPython.

For advanced, industrial-level projects, MapleSim is available.

Is there an intermediate solution? I just want to prototype projects with various microcontrollers (e.g. CH341, Arduino, RasberryPI, etc.), servo motors, sensors, etc. But, do it in a development environment similar to MakeCode, or Arduino IDE.