Compatible Programming software

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So I don't know much about app inventor or FTC, but I believe they use Java? If so, then it will be a bit tricky. I'm the maintainer for FRCSim, which is the a project to use gazebo for FRC simulation. The basic strategy is gazebo plugins for things like motors and sensors written to control robots which can be shared across all FTC robot models (these must be in C++). Then you need a library to communicate over gazebo transport. One such java library exists (we wrote it), although there is another option. Finally, you need to mock the FTC libraries to pass messages on gazebo transport instead of make calls to hardware.

Yes, it's possible. No it's not easy. If you're serious about this we can talk.