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Figured it out. It seems that Gazebo 9.0.0 which is packaged with the osrf/ros:melodic-desktop-full docker image is a train wreck for my experiment. If you use this image, update to Gazebo 9.16.0.

Figured it out. It seems that Gazebo 9.0.0 which is packaged with the osrf/ros:melodic-desktop-full docker image ~~is a train wreck for my experiment.~~ has some bugs. If you use this image, update to Gazebo. (This and other performance issues were fixed as of Gazebo ~~9.16.0.~~9.16)

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