From 49f45a93c84ad0834555cdc3caa1608e261df832 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Wed, 6 Aug 2025 05:06:07 -0700
Subject: [PATCH] Guard against division by zero when calculating pressure in
 tactile sensor.

PiperOrigin-RevId: 791641958
Change-Id: I457bc7f55c0b03e14b9c3944935866ede14f1d51
---
 src/engine/engine_sensor.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index 14fb0ead..b4acc932 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -1240,7 +1240,7 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
               mju_rotVecQuat(tang2, tang2, m->mesh_quat + 4 * mesh_id);
               mjtNum force[3];
               mjtNum kMaxDepth = 0.05;
-              mjtNum pressure = depth / (kMaxDepth - depth);
+              mjtNum pressure = depth / mju_max(kMaxDepth - depth, mjMINVAL);
               mju_scl3(force, normal, pressure);
 
               // one row of mat^T * force