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Getting any serious 3D accelerated application running in a VM (whether VMware or VirtualBox) is a gamble. RViz is such an application, and while it can probably be done, this site is full of questions and reports of users that have failed.
The PR2 meshes are rather detailed, and I can imagine put quite a strain on any 3D graphics pipeline, and I wouldn't be surprised if the OpenGL implementation of VirtualBox is not capable of supporting it.
That is all assuming that you installed the 3D acceleration extensions and drivers. If you haven't yet, you could try to see whether that makes any difference.
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