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From what you're looking at being discrete simulator solvers Gazebo is closely intergrated with ROS and has support for using ODE, Bullet, Simbody and DART.

See "Dynamics Simluation" at http://gazebosim.org/

From what you're looking at being discrete simulator solvers Gazebo is closely ~~intergrated~~ integrated with ROS and has support for using ODE, Bullet, Simbody and DART.

See "Dynamics Simluation" at http://gazebosim.org/

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