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Thanks for the feedback. I can't comment on OpenHRP3 and RTC.

I can say the OpenDE (ODE) did not come out of the game community. It was created by Russell Smith during and following his PhD work. The game community adopted ODE because it was (and still is) a great physics engine. Bullet and Havok(which is a game engine) use the same techniques as ODE. Maybe the implementation of the underlying algorithms are more or less efficient in each engine, but the overall limitations of a rigid-body maximal-coordinate system physics solver apply to each engine.

As you mentioned, we are hard at work integrating minimal-coordinate system physics engines. One is coming from Simbody (Stanford) and the other DART(Georgia Tech). These two engines will provide Gazebo users with a more accurate solver for robots with many links and joints. This comes at a cost of being less efficient with many single link objects. In short, every physics engine has pros and cons. Users of Gazebo will be able to choose the engine that is most appropriate for their use case.

We have spent a lot of time making the documentation stable, accurate, and up-to-date. Granted, you'll have to know what version of Gazebo you are running. Take a look at:

  1. Gazebo API

  2. Tutorials

  3. Message API

  4. SDF

  5. User Guide

If you can't find what you're looking for in those resources, please make use of this community website.

Any specific bugs and/or feature requests should go to our bitbucket repository.

Thanks again. I hope this helped answer your question.