NAO or ROMEO aldebran robot in V-rep

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I do not know very well these simulators, as far as we are concerned, HRP-2 users, we are working with the OpenHRP simulator. This is mainly due to the high fidelity of the dynamics simulation. This is the most crucial part when it comes to human-size humanoid robots. This is crucial for us as these robots are big, costly and powerful.

If you plan on working on control algorithms for humanoid robots then you should first review if other people doing humanoid robotics are using it and how good is the result. Then comes all the other features (ROS integration, sensor simulation, ease of use). The community also is a major factor.

The fact that it is bundled with Nao/Romeo should not be a major criteria for your decision, it is not that hard to port a model from one system to another (or even patching an open-source project to load a new file format is not that difficult either).

Long story short, because of the community size, the fact it is used in the Darpa Challenge (see here) and its nice ROS features among these three simulators I would choose Gazebo. You may also want to consider OpenHRP.

NB: Another nice robotics simulator is MORSE. Unfortunately it is not focused on humanoid robots.

You may be interested to know that we plan to have support for Nao in MORSE in a foreseeable future (required for by the MarDI project that has just started at LAAS-CNRS).

I can not give you any timeframe, but I know it will be worked upon in the coming month (however, it won't simulate accurately dynamics, like OpenHRP, for instance. MORSE is more suited for high-level control).

As far as I know, You can download webots-for-nao from http://www.aldebaran-robotics.com/ with 90 days trial. Aldebaran robotics gives webots simulator with appropriate world files and robot models.