Reproduction steps:
1. Open “ArmRobot” project
2. Open “ArticulationRobot” Scene
3. Enter Play Mode
4. Select “UR3/Base/Shoulder” GameObject in the Scene
5. Disable the selected GameObject

Expected result: The GameObject is disabled
Actual result: Unity Editor crashes

Reproducible with: 2020.3.43f1, 2021.3.14f1
Not reproducible with: 2021.3.15f1, 2021.3.16f1, 2022.2.2f1, 2023.1.0a24

Reproducible on: macOS Catalina 10.15.7 (Intel)

Notes:
- Editor also crashes if the GameObject is disabled through a script

First few lines of the stack trace:
#0 0x000001053a2186 in Unity::ArticulationBody::UpdateMassDistribution()
#1 0x000001049dd3c1 in ArticulationBody_CUSTOM_ResetInertiaTensor(ScriptingBackendNativeObjectPtrOpaque*)
#2 0x00000184a98e99 in (wrapper managed-to-native) UnityEngine.ArticulationBody:ResetInertiaTensor (UnityEngine.ArticulationBody) [{0x7f83ccaffb20} + 0x89] (0x184a98e10 0x184a98f6b) [0x14e804a80 - Unity Child Domain]
#3 0x0000014f991d1c in mono_jit_runtime_invoke
#4 0x0000014fb4733b in do_runtime_invoke
#5 0x0000014fb47278 in mono_runtime_invoke
#6 0x00000105515e27 in scripting_method_invoke(ScriptingMethodPtr, ScriptingObjectPtr, ScriptingArguments&, ScriptingExceptionPtr*, bool)
#7 0x00000105510db6 in ScriptingInvocation::Invoke(ScriptingExceptionPtr*, bool)