Capsule in shapes.sdf is vanishing through ground plane after falling to side

[stepkun]

Environment

• OS Version: Ubuntu 20.04 minimal installation with german locale and explicite export LC_NUMERIC="en_US.UTF-8"
• Binary build fortress
• Running on real hardware, an AMD 5700G with VEGA 8 GPU and 32GB RAM

Capsule vanishes through ground plane when falling to side. I could reproduce this also with an own created world. A few times I also had this behaviour with a sphere and a cylinder which lies on the side, but could not reproduce it stable.

Description

• Expected behavior: Capsule falls to the side and stays there
• Actual behavior: Capsule falls to the side and then slowly vanishes through the ground plane

Steps to reproduce

1. Command line: ign gazebo shapes.sdf
2. Rotate capsule slightly to any direction
3. Start simulation

Output

[azeey]

I was able to reproduce the bug. It appears to be a bug in DART, so I've created an issue there dartsim/dart#1654.