V-REP

V-REP is the Swiss army knife among robot simulators: you won't find a
simulator with more features and functions, or a more elaborate API:

- Cross-platform: Windows, Mac OSX and Linux 32 & 64 bit
- Open source: full source code downloadable and compilable. Precompiled
binaries also available for each platform
- 6 programming approaches: embedded scripts, plugins, add-ons, ROS
nodes, remote API clients, or custom solutions
- 6 programming languages: C/C++, Python, Java, Lua, Matlab, and Urbi
- API: more than 400 different functions
- ROS: >100 services, >30 publisher types, >25 subscriber types, extendable
- Importers/exporters: URDF, COLLADA, DXF, OBJ, 3DS, STL
- 2 Physics engines: ODE and Bullet
- Kinematic solver: IK and FK for ANY mechanism, can also be embedded on
your robot
- Interference detection: calculations between ANY meshes. Very fast
- Minimum distance calculation: calculations between ANY meshes. Very fast
- Path planning: holonomic in 2-6 dimensions and non-holonomic for
car-like vehicles
- Vision sensors: includes built-in image processing, fully extendable
- Proximity sensors: very realistic and fast (minimum distance within a
detection volume)
- User interfaces: built-in, fully customizable (editor included)
- Robot motion library: fully integrated Reflexxes Motion Library type 4
- Data recording and visualisation: time graphs, X/Y graphs or 3D curves
- Shape edit modes: includes a semi-automatic primitive shape extraction
method
- Dynamic particles: simulation of water- or air-jets
- Model browser: includes drag-and-drop functionality, also during
simulation
- Other: Multi-level undo/redo, movie recorder, convex decomposition,
simulation of paint, exhaustive documentation, etc.

For more information, please visit http://www.coppeliarobotics.com or
have a look at following demo video:

http://youtu.be/bwGYUayglHY