I used Ros extensively over a decade ago but haven't kept up with it. Most of my work was on simulation, and what was then known as player stage gazebo. Has th

I used Ros extensively over a decade ago but haven't kept up with it. Most of my work was on simulation, and what was then known as player stage gazebo. Has that kept up with The Cutting Edge of simulation? Especially things like simulated limbs, friction coefficients, just overall physical realism? Is it being used by the Deep learning crowd when they simulate embodiment? also, has there been any interest in recent work on transference from simulation to the real world?