Download of vrep 3.6.2 for Mac was on the developer's website when we last checked. We cannot confirm if there is a free download of this app available. The program lies within Developer Tools, more precisely IDE. This Mac app was originally produced by com.coppeliarobotics. Please check the Mac app with an antivirus before launch as it is downloaded from the developer's website, and we cannot ensure that it is safe.
From the developer:
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.
You may want to check out more software for Mac, such as QCTools, which might be similar to vrep.