From 558aaf2923a053391ca589ccf57abce86fdb8a5b Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 22 Aug 2022 09:49:59 -0700
Subject: [PATCH] Tighter bound for triggering invalid condim in
 `mj_collideGeoms`.

PiperOrigin-RevId: 469210244
Change-Id: I349de59aac7ba1bc80df322f667fa9afc87d4b1f
---
 src/engine/engine_collision_driver.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_collision_driver.c b/src/engine/engine_collision_driver.c
index f148c6fc..36a78984 100644
--- a/src/engine/engine_collision_driver.c
+++ b/src/engine/engine_collision_driver.c
@@ -725,7 +725,7 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2, int flg_user,
   // add contact returned by collision detector
   for (i=0; i<num; i++) {
     // set contact data
-    if (condim > 6 || condim < 0) {  // SHOULD NOT OCCUR
+    if (condim > 6 || condim < 1) {  // SHOULD NOT OCCUR
       mju_error_i("Invalid condim value: %d", i);
     }
     con[i].dim = condim;