mpc_nvblox_example.py runs into an ValueError with it's ArticulationController

[Bradan]

If it’s not a bug, please use discussions: https://github.com/NVlabs/curobo/discussions

Please provide the below information in addition to your issue:

1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): isaac sim
2. python version: Python 3.10.14
3. Isaac Sim version (if using): 4.2.0

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Issue Details

When trying to run the mpc_nvblox_example.py it crashes with an exception:

Traceback (most recent call last):
  File "/home/user/curobo/examples/isaac_sim/mpc_nvblox_example.py", line 341, in main
    articulation_controller.apply_action(art_action)
  File "/home/user/.local/share/ov/pkg/isaac-sim-4.2.0/exts/omni.isaac.core/omni/isaac/core/controllers/articulation_controller.py", line 64, in apply_action
    if joint_positions[0][i] is None or np.isnan(
ValueError: The truth value of an array with more than one element is ambiguous. Use a.any() or a.all()

As the exception says it can be fixed by .any() behind the np.isnan calls in line 66 and 75 of the file exts/omni.isaac.core/omni/isaac/core/controllers/articulation_controller.py, but I cannot find this file in any public repository.

I was tempted to post this in https://github.com/isaac-sim/IsaacLab, but maybe I'm just solving it too deep inside Isaac Sim and there's actually a fix inside cuRobo to make this a scalar value?