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Welcome to gazebo answers! Gazebo's physics modeling is rather flexible in that it supports several physics engines (ODE, Bullet, Simbody, and Dart I believe). I don't work on the physics, but I'm fairly certain some tricky hackery is required for cable robots to work. There are a few examples of things like a firehose, or treadmill.

This document explains all the ROS connectivity stuff

Welcome to gazebo answers! Gazebo's physics modeling is rather flexible in that it supports several physics engines (ODE, Bullet, Simbody, and Dart I believe). I don't work on the physics, but I'm fairly certain some tricky hackery is required for cable robots to work. There are a few examples of things like a firehose, or treadmill.

This document explains all the ROS connectivity stuff

Gazebo can easily do several, or several hundred robots, depending on how complex they are. There's a whole "Swarm" project that you can google for.