diff --git a/src/jaxsim/terrain/terrain.py b/src/jaxsim/terrain/terrain.py
index b139f7db2..9afd19461 100644
--- a/src/jaxsim/terrain/terrain.py
+++ b/src/jaxsim/terrain/terrain.py
@@ -147,7 +147,7 @@ def height(self, x: jtp.FloatLike, y: jtp.FloatLike) -> jtp.Float:
         D = -C * self._height
 
         # Invert the plane equation to get the height at the given (x, y) coordinates.
-        return jnp.array(-(A * x + B * y + D) / C).astype(float)
+        return jnp.array(-(A * x + B * y + D) / (C + 1e-9)).astype(float)
 
     def __hash__(self) -> int: