diff --git a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
index 788a5da6705..6f5e927bacc 100644
--- a/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
+++ b/source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py
@@ -225,6 +225,7 @@ def compute(
                 solver="daqp",
                 safety_break=self.cfg.fail_on_joint_limit_violation,
             )
+            assert not np.isnan(velocity).any(), "Solution to IK contains NaN."
             joint_angle_changes = velocity * dt
         except (AssertionError, Exception) as e:
             # Print warning and return the current joint positions as the target