Reproduction steps:
1. Open the attached project "RigidBodyBug.zip";
2. Open the only one Scene in the Assets;
3. Enter a play mode;
4. Observe the errors in the console;

Note: Interpolation is enabled for all Rigidbodies in the scene and also, this is happening only if a camera is rendering the object.

Reproduced on: 5.6.0b10, 5.6.0b11, 2017.1.0a3.
Not reproduced on: 5.6.0b9, 5.5.0f3, 5.5.2p2.

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Fixed in : 2017.1.0a5 and 5.6.2p1