From bd3ac8f5298fab3931e27a207d8268cd1047f681 Mon Sep 17 00:00:00 2001 From: alex Date: Thu, 26 Feb 2026 13:51:29 +0100 Subject: [PATCH] Catch Nans in IK solution. --- source/isaaclab/isaaclab/controllers/pink_ik/pink_ik.py | 1 + 1 file changed, 1 insertion(+) 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