The user manual is included in the downloadable V-REP packages
Virtual Robot Experimentation Platform
V-REP is the Swiss army knife among robot simulators: you won't find a simulator with more functions, features, or more elaborate APIs.
The robot simulator V-REP, with integrated development environment, is based on a distributed control architecture: each object/model can be individually controlled via an embedded script, a plugin, a ROS node, a remote API client, or a custom solution. This makes V-REP very versatile and ideal for multi-robot applications. Controllers can be written in C/C++, Python, Java, Lua, Matlab or Urbi.
Following are just a few of V-REP's applications:
Simulation of factory automation systems
Fast prototyping and verification
Fast algorithm development
Robotics related education
V-REP can be used as a stand-alone application or can easily be embedded into a main client application: its small footprint and elaborate API makes V-REP an ideal candidate to embed into higher-level applications. An integrated Lua script interpreter makes V-REP an extremely versatile application, leaving the freedom to the user to combine the low/high-level functionalities to obtain new high-level functionalities.
A good way to get a quick start with V-REP is to have a look at the tutorial section first.
V-REP main features
V-REP version history
Acknowledgments and credits