diff --git a/src/systems/physics/Physics.cc b/src/systems/physics/Physics.cc
index a879c5d615..b260add6e6 100644
--- a/src/systems/physics/Physics.cc
+++ b/src/systems/physics/Physics.cc
@@ -151,7 +151,7 @@ class ignition::gazebo::systems::PhysicsPrivate
           ignition::physics::FreeGroupFrameSemantics,
           ignition::physics::LinkFrameSemantics,
           ignition::physics::ForwardStep,
-          ignition::physics::RemoveEntities,
+          ignition::physics::RemoveModelFromWorld,
           ignition::physics::sdf::ConstructSdfLink,
           ignition::physics::sdf::ConstructSdfModel,
           ignition::physics::sdf::ConstructSdfWorld
@@ -1184,6 +1184,14 @@ void PhysicsPrivate::CreateCollisionEntities(const EntityComponentManager &_ecm)
               linkCollisionFeature->ConstructCollision(collision);
         }
 
+        if (nullptr == collisionPtrPhys)
+        {
+          igndbg << "Failed to create collision [" << _name->Data()
+                 << "]. Does the physics engine support geometries of type ["
+                 << static_cast<int>(_geom->Data().Type()) << "]?" << std::endl;
+          return true;
+        }
+
         this->entityCollisionMap.AddEntity(_entity, collisionPtrPhys);
 
         // Check that the physics engine has a filter mask feature