To reproduce:

1. Create new project
2. Create Empty GameObject
3. Add Rigidbody and Box Collider to gameobject
4. Create a prefab of gameobject
5. Select gameobject in the hierarchy
6. Add Mesh Filter and Mesh Renderer to object
7. Set Mesh to Plane and Material to Default-Material
8. Press Apply
9. Undo changes 4 times
10. Redo changes. Observe console
11. Keep undoing changes and redoing until crash

Expected: undoing and redoing changes does not throw errors and does not crash the editor.
Actual: undoing and redoing changes throws errors and eventually crashes the editor.

Reproduced on 5.4.0f3, 5.4.5f1, 5.5.0f3, 5.5.2f1, 5.6.0f2, 2017.1.0a6

Fixed in 2017.3.0b1