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From Ritik:

The package Adrien sent seems to be a good start. Here are a few other resources you could look into in case that package doesn't fit your requirements- 
1.  http://www.phil.cmu.edu/tetrad/index.html - Tetrad is a GUI-based program that allows you to simulate data given a causal graph
2. http://onyx.brandmaier.de/ - Ωnyx is another GUI-based SEM modeling software which allows you to simulate data given a causal graph
3.  https://cran.r-project.org/web/packages/covsim/index.html - Covsim can generate data given a pre-specified covariance matrix and pre-specified univariate marginal distributions

The Causal Discovery Toolbox (Python-based package which allows you to generate data given a causal mechanism) and Lavaan (an R-based package to estimate SEMs) might be some other packages worth looking into. Let me know if you need any help.

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