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This looks to be a bug in Gazebo. I'm going to accept my answer and go file a bug report.

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Added link to bug report.

This looks to be a bug in Gazebo. I'm going to accept my answer and go file a bug report.Gazebo.

Bug Report Filed: https://bitbucket.org/osrf/gazebo/issue/1005/robot-shatters-when-collision-pose-and