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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