[Bug Report] NaN value Issue

[wangsy1999]

If you are submitting a bug report, please fill in the following details and use the tag [bug].

Describe the bug

In IsaacLab 3.0.0 beta2, it has problem when using newton physics:

ValueError: The observation group 'policy' returned by the environment contains NaN values. This usually indicates a bug in the environment's step() or reset() function.

Are you still working for the compatibility or that is a bug? Thank you for your help!

Steps to reproduce

Use "./isaaclab.sh train --rl_library rsl_rl --task=Isaac-Velocity-Rough-Anymal-C-v0 physics=newton_mjwarp" and this bug appears.

Traceback (most recent call last):
  File "/home/wsy/env_isaaclab/IsaacLab/source/isaaclab_tasks/isaaclab_tasks/utils/sim_launcher.py", line 499, in launch_simulation
    yield
  File "/home/wsy/env_isaaclab/IsaacLab/scripts/reinforcement_learning/rsl_rl/train_rsl_rl.py", line 179, in run
    runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
  File "/home/wsy/env_isaaclab/lib/python3.12/site-packages/rsl_rl/runners/on_policy_runner.py", line 90, in learn
    check_nan(obs, rewards, dones)
  File "/home/wsy/env_isaaclab/lib/python3.12/site-packages/rsl_rl/utils/utils.py", line 279, in check_nan
    raise ValueError(
ValueError: The observation group 'policy' returned by the environment contains NaN values. This usually indicates a bug in the environment's step() or reset() function.
Traceback (most recent call last):
  File "/home/wsy/env_isaaclab/IsaacLab/scripts/reinforcement_learning/train.py", line 37, in <module>
    raise SystemExit(main())
                     ^^^^^^
  File "/home/wsy/env_isaaclab/IsaacLab/scripts/reinforcement_learning/train.py", line 27, in main
    return dispatch_library_entrypoint(
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/home/wsy/env_isaaclab/IsaacLab/scripts/reinforcement_learning/common.py", line 79, in dispatch_library_entrypoint
    module.run(library_args)
  File "/home/wsy/env_isaaclab/IsaacLab/scripts/reinforcement_learning/rsl_rl/train_rsl_rl.py", line 179, in run
    runner.learn(num_learning_iterations=agent_cfg.max_iterations, init_at_random_ep_len=True)
  File "/home/wsy/env_isaaclab/lib/python3.12/site-packages/rsl_rl/runners/on_policy_runner.py", line 90, in learn
    check_nan(obs, rewards, dones)
  File "/home/wsy/env_isaaclab/lib/python3.12/site-packages/rsl_rl/utils/utils.py", line 279, in check_nan
    raise ValueError(
ValueError: The observation group 'policy' returned by the environment contains NaN values. This usually indicates a bug in the environment's step() or reset() function.

System Info

Describe the characteristic of your environment:

• Commit: [e.g. 8f3b9ca]
• Isaac Sim Version: [6.0.0.1]
• OS: [Ubuntu 24.04 & 26.04]
• GPU: [e.g. RTX 5080 & 4080 super]
• CUDA: [12.8]
• GPU Driver: [580.159]

Additional context

Add any other context about the problem here.

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

Add the criteria for which this task is considered done. If not known at issue creation time, you can add this once the issue is assigned.

• Similar tasks in IsaacLab does not have ValueError problem.

[RandomOakForest]

Thank you for posting this. The team will review it.