Crash with assertion failure "aabbBound >= dMinIntExact && aabbBound < dMaxIntExact"

[zhileiren]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  source build
  gz-sim version: 5641ef2cc7bed13e06892d29ffd3663b2f172e76
  gz-physics version: f54d4de
  built with
  gcc version: 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04)
  build options: -DCMAKE_BUILD_TYPE=Coverage

Description

• Expected behavior: Gazebo doesn't crash
• Actual behavior: Gazebo crashes

Steps to reproduce:

1. tar xf a.tar.gz

2. gz sim buggy.sdf -r

Output

a.log

[azeey]

This is a duplicate of gazebosim/gz-sim#15. It seems like this happens when objects are so far away from the origin that they don't fit in the bounding box created by ode's collision detection code. But I don't understand why the objects move that far in the first place.