Crash after loading sdf with negative size parameter

[GzFuzz-code]

Environment

• OS Version: Ubuntu 22.04
• Source or binary build?
  source build
  gz-sim8 version: e4fd295
  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. gz sim c5.txt

Output

gz sim server: ./dart/dynamics/BoxShape.cpp:45: dart::dynamics::BoxShape::BoxShape(const Vector3d&): Assertion `_size[2] > 0.0' failed.
Stack trace (most recent call last):
#31   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5ca69ac, in rb_protect
#30   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5e3ec61, in rb_yield
#29   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5e3a30c, in rb_vm_exec
#28   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5e34c96, in 
#27   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5e31fc5, in 
#26   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5e2fc34, in 
#25   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f37e5a8e44b, in 
#24   Object "/lib/x86_64-linux-gnu/libruby-3.0.so.3.0", at 0x7f37e5dfd088, in rb_nogvl
#23   Object "/usr/lib/x86_64-linux-gnu/ruby/3.0.0/fiddle.so", at 0x7f37e5a8dd6b, in 
#22   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f37e5a62492, in 
#21   Object "/lib/x86_64-linux-gnu/libffi.so.8", at 0x7f37e5a65e2d, in 
#20   Object "/usr/lib/x86_64-linux-gnu/libgz-sim8-gz.so.8.6.0", at 0x7f37e56d3605, in runServer
#19   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f37e013d485, in 
#18   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f37e014d8a2, in gz::sim::v8::SimulationRunner::Run(unsigned long)
#17   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f37e014ce60, in gz::sim::v8::SimulationRunner::Step(gz::sim::v8::UpdateInfo const&)
#16   Object "/lib/x86_64-linux-gnu/libgz-sim8.so.8", at 0x7f37e014c0a2, in gz::sim::v8::SimulationRunner::UpdateSystems()
#15   Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f37d751f585, in gz::sim::v8::systems::Physics::Update(gz::sim::v8::UpdateInfo const&, gz::sim::v8::EntityComponentManager&)
#14   Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f37d751f4b2, in gz::sim::v8::systems::PhysicsPrivate::CreatePhysicsEntities(gz::sim::v8::EntityComponentManager const&, bool)
#13   Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f37d7519544, in gz::sim::v8::systems::PhysicsPrivate::CreateModelEntities(gz::sim::v8::EntityComponentManager const&, bool)
#12   Object "/usr/lib/x86_64-linux-gnu/gz-sim-8/plugins/libgz-sim-physics-system.so", at 0x7f37d7598f06, in 
#11   Object "/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f379fdf1fb3, in virtual thunk to gz::physics::dartsim::SDFFeatures::ConstructSdfModel(gz::physics::Identity const&, sdf::v14::Model const&)
#10   Object "/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f379fdf13fa, in gz::physics::dartsim::SDFFeatures::ConstructSdfModelImpl(unsigned long, sdf::v14::Model const&)
#9    Object "/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f379fded384, in gz::physics::dartsim::SDFFeatures::FindOrConstructLink(std::shared_ptr<dart::dynamics::Skeleton> const&, gz::physics::Identity const&, sdf::v14::Model const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
#8    Object "/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f379fdecdc4, in gz::physics::dartsim::SDFFeatures::ConstructSdfLink(gz::physics::Identity const&, sdf::v14::Link const&)
#7    Object "/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f379fdf3a6e, in gz::physics::dartsim::SDFFeatures::ConstructSdfCollision(gz::physics::Identity const&, sdf::v14::Collision const&)
#6    Object "/usr/lib/x86_64-linux-gnu/gz-physics-7/engine-plugins/libgz-physics-dartsim-plugin.so", at 0x7f379fdf2c34, in 
#5    Object "/lib/x86_64-linux-gnu/libdart.so.6.13", at 0x7f379f807f1e, in dart::dynamics::BoxShape::BoxShape(Eigen::Matrix<double, 3, 1, 0, 3, 1> const&)
#4    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37e5839e95, in __assert_fail
#3    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37e582871a, in 
#2    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37e58287f2, in abort
#1    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37e5842475, in raise
#0    Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f37e58969fc, in pthread_kill
Aborted (Signal sent by tkill() 3370274 1000)```

[azeey]

A potential fix would be to enforce positive sizes in SDFormat.