ODE crash on `rolling_shapes.sdf`

[osrf-migration]

Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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Prerequisites

• [ X ] Put an X between the brackets on this line if you have done all of the following:
  • Checked the Q&A board for common solutions: http://answers.gazebosim.org
  • Checked that your issue isn't already filed.
  • Checked that there is not already an Ignition package that provides the described functionality: https://ignitionrobotics.org/libs

Description

rolling_shapes.sdf crashes after about 20s sim time with:

ODE INTERNAL ERROR 1: assertion "bNormalizationResult" failed in _dNormalize4() [odemath.h:42]

Steps to Reproduce

1. ign-gazebo -v 4 -f rolling_shapes.sdf-r
2. Wait 20 seconds

Expected behavior:

No crash

Actual behavior:

Crash

Reproduces how often:

100% of tries

Versions

ign-gazebo1

Additional Information

N/A

[osrf-migration]

Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

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There's a similar issue in ign-physics #7 (ignitionrobotics/ign-physics#7). It was behaving the same way before we changed to ODE for collision detection so I don't think the problem lies there.

[jennuine]

In case this helps, in Fortress rolling_shapes.sdf crashes after 2 secs with:

ODE INTERNAL ERROR 1: assertion "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact" failed in collide() [collision_space.cpp:460]

When the capsule model is removed, it crashes after 5 secs.