diff --git a/Pyrado/pyrado/environments/mujoco/quanser_qube.py b/Pyrado/pyrado/environments/mujoco/quanser_qube.py
index 20e136fb33..a1638d12c1 100644
--- a/Pyrado/pyrado/environments/mujoco/quanser_qube.py
+++ b/Pyrado/pyrado/environments/mujoco/quanser_qube.py
@@ -124,7 +124,10 @@ def _mujoco_step(self, act: np.ndarray) -> dict:
         self.data.ctrl[:] = torque
 
         # Call MuJoCo
-        mujoco.mj_step(self.model, self.data)
+        try:
+            mujoco.mj_step(self.model, self.data)
+        except mujoco.FatalError:
+            mjsim_crashed = True
 
         qpos = self.data.qpos.copy()
         qvel = self.data.qvel.copy()