I need to run a Gazebo simulation at a decent framerate (>15 or so), and I would prefer to work in a virtual machine. I have tried VMware and I achieve >30 fps, but Gazebo always crashes within a minute due to known issues with VMware, OpenGL, and Gazebo (https://robocademy.com/2020/05/02/solved-opengl-issues-with-gazebo-and-vmware/). Solutions provided online to solve this problem do not seem to work - the best I can do is disable 'accelerate 3D graphics' and accept ~3 fps. I have also tried VirtualBox, but this setup cannot seem to handle my Gazebo simulation and crashes during startup. Has anyone found success with running Gazebo in a virtual machine at a decent framerate? If so, I'd greatly appreciate any tips you have. Thank you!