diff --git a/gazebo/rendering/Visual.cc b/gazebo/rendering/Visual.cc
index 7dc263115a..e511ff2b64 100644
--- a/gazebo/rendering/Visual.cc
+++ b/gazebo/rendering/Visual.cc
@@ -811,9 +811,16 @@ void Visual::SetScale(const ignition::math::Vector3d &_scale)
 
   this->dataPtr->scale = _scale;
 
-  this->dataPtr->sceneNode->setScale(
-      Conversions::Convert(this->dataPtr->scale));
-
+  if (!ignition::math::isnan(this->dataPtr->scale.X())
+      && !ignition::math::isnan(this->dataPtr->scale.Y())
+      && !ignition::math::isnan(this->dataPtr->scale.Z()))
+  {
+    this->dataPtr->sceneNode->setScale(
+        Conversions::Convert(this->dataPtr->scale));
+  } else {
+    gzerr << Name() << ": Size of the collision contains one or several zeros." <<
+      " Collisions may not visualize properly." << std::endl;
+  }
   // Scale selection object in case we have one attached. Other children were
   // scaled from UpdateGeomSize
   for (auto child : this->dataPtr->children)