diff --git a/source/extensions/isaacsim.core.api/python/impl/controllers/articulation_controller.py b/source/extensions/isaacsim.core.api/python/impl/controllers/articulation_controller.py
index 0c45a34a..0895ea73 100644
--- a/source/extensions/isaacsim.core.api/python/impl/controllers/articulation_controller.py
+++ b/source/extensions/isaacsim.core.api/python/impl/controllers/articulation_controller.py
@@ -78,7 +78,9 @@ def apply_action(self, control_actions: ArticulationAction) -> None:
             )
             joint_velocities = self._articulation_view._backend_utils.expand_dims(joint_velocities, 0)
             for i in range(control_actions.get_length()):
-                if joint_velocities[0][i] is None or np.isnan(joint_velocities[0][i]):
+                if joint_velocities[0][i] is None or np.isnan(
+                    self._articulation_view._backend_utils.to_numpy(joint_velocities[0][i])
+                ):
                     joint_velocities[0][i] = applied_actions.joint_velocities[joint_indices[i]]
         joint_efforts = control_actions.joint_efforts
         if control_actions.joint_efforts is not None:
@@ -87,7 +89,9 @@ def apply_action(self, control_actions: ArticulationAction) -> None:
             )
             joint_efforts = self._articulation_view._backend_utils.expand_dims(joint_efforts, 0)
             for i in range(control_actions.get_length()):
-                if joint_efforts[0][i] is None or np.isnan(joint_efforts[0][i]):
+                if joint_efforts[0][i] is None or np.isnan(
+                    self._articulation_view._backend_utils.to_numpy(joint_efforts[0][i])
+                ):
                     joint_efforts[0][i] = 0
         self._articulation_view.apply_action(
             ArticulationActions(