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This is caused by the fact that DART, by default, uses the FCL collision library with a configuration that changes simple shapes like sphere into a mesh. In your case, the resulting mesh doesn't have enough resolution to correctly behave as a sphere. You can change the DART's collision detector to bullet and you should get better behavior in your example. You'd that by setting the dart_collision_detector parameter (http://sdformat.org/spec?ver=1.7&elem=physics#dart_collision_detector)

<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="default">
    <physics type="dart">
      <dart>
         <collision_detector>bullet</collision_detector>
      </dart>
    </physics>
   ...
  </world>
</sdf>