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Although NVIDIA cards are the ones that work nicely with Gazebo, from the latest versions (gazebo4 and gazebo5) I'm using my laptop integrated Intel HD4000 to make my usual testing and development on Gazebo with really good results. No guarantee yet, but I would recommend to give it a try if you have a similar graphic card.

PR2 is able to run in a clean world at 0.80 RTF on my laptop using Intel HD4000.