What version of ubuntu, etc. are your running on?
We have successfully run the simulator in our robotics class where student have worked with gazebo + SDK on ubuntu 16.04 / ROS kinetic where the students are not connected to the robot.
We have done this with a direct install onto our lab machines, however we also have a docker setup that's available here: https://github.com/TheToby1/ros_sawyer
Hope this helps!