diff --git a/dartsim/src/JointFeatures.cc b/dartsim/src/JointFeatures.cc
index c15152d01..f1ea1b2cd 100644
--- a/dartsim/src/JointFeatures.cc
+++ b/dartsim/src/JointFeatures.cc
@@ -67,22 +67,57 @@ Pose3d JointFeatures::GetJointTransform(const Identity &_id) const
 void JointFeatures::SetJointPosition(
     const Identity &_id, const std::size_t _dof, const double _value)
 {
-  this->ReferenceInterface<JointInfo>(_id)->joint->setPosition(_dof, _value);
+  auto joint = this->ReferenceInterface<JointInfo>(_id)->joint;
+
+  // Take extra care that the value is finite. A nan can cause the DART
+  // constraint solver to fail, which will in turn either cause a crash or
+  // collisions to fail
+  if (!std::isfinite(_value))
+  {
+    ignerr << "Invalid joint position value [" << _value << "] set on joint ["
+           << joint->getName() << " DOF " << _dof
+           << "]. The value will be ignored\n";
+    return;
+  }
+  joint->setPosition(_dof, _value);
 }
 
 /////////////////////////////////////////////////
 void JointFeatures::SetJointVelocity(
     const Identity &_id, const std::size_t _dof, const double _value)
 {
-  this->ReferenceInterface<JointInfo>(_id)->joint->setVelocity(_dof, _value);
+  auto joint = this->ReferenceInterface<JointInfo>(_id)->joint;
+
+  // Take extra care that the value is finite. A nan can cause the DART
+  // constraint solver to fail, which will in turn either cause a crash or
+  // collisions to fail
+  if (!std::isfinite(_value))
+  {
+    ignerr << "Invalid joint velocity value [" << _value << "] set on joint ["
+           << joint->getName() << " DOF " << _dof
+           << "]. The value will be ignored\n";
+    return;
+  }
+  joint->setVelocity(_dof, _value);
 }
 
 /////////////////////////////////////////////////
 void JointFeatures::SetJointAcceleration(
     const Identity &_id, const std::size_t _dof, const double _value)
 {
-  this->ReferenceInterface<JointInfo>(_id)->joint->setAcceleration(_dof,
-                                                                   _value);
+  auto joint = this->ReferenceInterface<JointInfo>(_id)->joint;
+
+  // Take extra care that the value is finite. A nan can cause the DART
+  // constraint solver to fail, which will in turn either cause a crash or
+  // collisions to fail
+  if (!std::isfinite(_value))
+  {
+    ignerr << "Invalid joint acceleration value [" << _value
+           << "] set on joint [" << joint->getName() << " DOF " << _dof
+           << "]. The value will be ignored\n";
+    return;
+  }
+  joint->setAcceleration(_dof, _value);
 }
 
 /////////////////////////////////////////////////
@@ -90,6 +125,17 @@ void JointFeatures::SetJointForce(
     const Identity &_id, const std::size_t _dof, const double _value)
 {
   auto joint = this->ReferenceInterface<JointInfo>(_id)->joint;
+
+  // Take extra care that the value is finite. A nan can cause the DART
+  // constraint solver to fail, which will in turn either cause a crash or
+  // collisions to fail
+  if (!std::isfinite(_value))
+  {
+    ignerr << "Invalid joint force value [" << _value << "] set on joint ["
+           << joint->getName() << " DOF " << _dof
+           << "]. The value will be ignored\n";
+    return;
+  }
   if (joint->getActuatorType() != dart::dynamics::Joint::FORCE)
   {
     joint->setActuatorType(dart::dynamics::Joint::FORCE);
@@ -102,6 +148,17 @@ void JointFeatures::SetJointVelocityCommand(
     const Identity &_id, const std::size_t _dof, const double _value)
 {
   auto joint = this->ReferenceInterface<JointInfo>(_id)->joint;
+
+  // Take extra care that the value is finite. A nan can cause the DART
+  // constraint solver to fail, which will in turn either cause a crash or
+  // collisions to fail
+  if (!std::isfinite(_value))
+  {
+    ignerr << "Invalid joint velocity value [" << _value
+           << "] commanded on joint [" << joint->getName() << " DOF " << _dof
+           << "]. The command will be ignored\n";
+    return;
+  }
   if (joint->getActuatorType() != dart::dynamics::Joint::SERVO)
   {
     joint->setActuatorType(dart::dynamics::Joint::SERVO);
diff --git a/dartsim/src/JointFeatures_TEST.cc b/dartsim/src/JointFeatures_TEST.cc
index f64e9aa7f..3d30b2429 100644
--- a/dartsim/src/JointFeatures_TEST.cc
+++ b/dartsim/src/JointFeatures_TEST.cc
@@ -40,6 +40,7 @@
 #include <ignition/physics/sdf/ConstructModel.hh>
 #include <ignition/physics/sdf/ConstructWorld.hh>
 
+#include <limits>
 #include <sdf/Model.hh>
 #include <sdf/Root.hh>
 #include <sdf/World.hh>
@@ -58,6 +59,7 @@ using TestFeatureList = ignition::physics::FeatureList<
   physics::GetBasicJointState,
   physics::GetEntities,
   physics::RevoluteJointCast,
+  physics::SetBasicJointState,
   physics::SetJointVelocityCommandFeature,
   physics::sdf::ConstructSdfModel,
   physics::sdf::ConstructSdfWorld
@@ -105,6 +107,8 @@ TEST_F(JointFeaturesFixture, JointSetCommand)
       dartWorld->getSkeleton(modelName);
   ASSERT_NE(nullptr, skeleton);
 
+  const auto *dartBaseLink = skeleton->getBodyNode("base");
+  ASSERT_NE(nullptr, dartBaseLink);
   const auto *dartJoint = skeleton->getJoint(jointName);
 
   // Default actuatore type
@@ -119,6 +123,15 @@ TEST_F(JointFeaturesFixture, JointSetCommand)
   world->Step(output, state, input);
   EXPECT_LT(joint->GetVelocity(0), 0.0);
 
+  // Check that invalid velocity commands don't cause collisions to fail
+  for (std::size_t i = 0; i < 1000; ++i)
+  {
+    joint->SetForce(0, std::numeric_limits<double>::quiet_NaN());
+    // expect the position of the pendulum to stay aabove ground
+    world->Step(output, state, input);
+    EXPECT_NEAR(0.0, dartBaseLink->getWorldTransform().translation().z(), 1e-3);
+  }
+
   joint->SetVelocityCommand(0, 1);
   world->Step(output, state, input);
   // Setting a velocity command changes the actuator type to SERVO
@@ -139,6 +152,15 @@ TEST_F(JointFeaturesFixture, JointSetCommand)
     world->Step(output, state, input);
     EXPECT_NEAR(0.0, joint->GetVelocity(0), 1e-6);
   }
+
+  // Check that invalid velocity commands don't cause collisions to fail
+  for (std::size_t i = 0; i < 1000; ++i)
+  {
+    joint->SetVelocityCommand(0, std::numeric_limits<double>::quiet_NaN());
+    // expect the position of the pendulum to stay aabove ground
+    world->Step(output, state, input);
+    EXPECT_NEAR(0.0, dartBaseLink->getWorldTransform().translation().z(), 1e-3);
+  }
 }
 
 // Test detaching joints.