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I have NOT had success running Gazebo under the following configuration:

Gazebo 1.9
Ubuntu Desktop 12.04.3 64-bit (guest)
List item
VirtualBox 4.3.0 r89960
Windows 7 Home Premium 64-bit (host)
VirtualBox 3D acceleration enabled

I get error messages similar to the following:

eOpenGL Warning: glFlushVertextArrayRangeNV not found in mesa table

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