diff --git a/libraries/shared/src/AACube.cpp b/libraries/shared/src/AACube.cpp
index 4218826141..f40f506924 100644
--- a/libraries/shared/src/AACube.cpp
+++ b/libraries/shared/src/AACube.cpp
@@ -478,3 +478,13 @@ AACube& AACube::operator += (const glm::vec3& point) {
 
     return (*this);
 }
+
+bool AACube::containsNaN() const {
+    if ( _corner.x != _corner.x ||  _corner.y != _corner.y ||  _corner.z != _corner.z) {
+        return true;
+    }
+    if (_scale != _scale) {
+        return true;
+    }
+    return false;
+}
diff --git a/libraries/shared/src/AACube.h b/libraries/shared/src/AACube.h
index fbbbe9992a..dab5dafdaa 100644
--- a/libraries/shared/src/AACube.h
+++ b/libraries/shared/src/AACube.h
@@ -66,6 +66,8 @@ public:
 
     AACube& operator += (const glm::vec3& point);
 
+    bool containsNaN() const;
+
 private:
     glm::vec3 getClosestPointOnFace(const glm::vec3& point, BoxFace face) const;
     glm::vec3 getClosestPointOnFace(const glm::vec4& origin, const glm::vec4& direction, BoxFace face) const;
diff --git a/libraries/shared/src/SpatiallyNestable.cpp b/libraries/shared/src/SpatiallyNestable.cpp
index c03da7ff13..1de091ec09 100644
--- a/libraries/shared/src/SpatiallyNestable.cpp
+++ b/libraries/shared/src/SpatiallyNestable.cpp
@@ -314,6 +314,11 @@ glm::vec3 SpatiallyNestable::getPosition(int jointIndex, bool& success) const {
 }
 
 void SpatiallyNestable::setPosition(const glm::vec3& position, bool& success) {
+    // guard against introducing NaN into the transform
+    if (position.x != position.x || position.y != position.y || position.z != position.z) {
+        success = false;
+        return;
+    }
     Transform parentTransform = getParentTransform(success);
     Transform myWorldTransform;
     _transformLock.withWriteLock([&] {
@@ -358,6 +363,15 @@ glm::quat SpatiallyNestable::getOrientation(int jointIndex, bool& success) const
 }
 
 void SpatiallyNestable::setOrientation(const glm::quat& orientation, bool& success) {
+    // guard against introducing NaN into the transform
+    if (orientation.x != orientation.x ||
+        orientation.y != orientation.y ||
+        orientation.z != orientation.z ||
+        orientation.w != orientation.w) {
+        success = false;
+        return;
+    }
+
     Transform parentTransform = getParentTransform(success);
     Transform myWorldTransform;
     _transformLock.withWriteLock([&] {
@@ -408,6 +422,10 @@ const Transform SpatiallyNestable::getTransform(int jointIndex, bool& success) c
 }
 
 void SpatiallyNestable::setTransform(const Transform& transform, bool& success) {
+    if (transform.containsNaN()) {
+        success = false;
+        return;
+    }
     Transform parentTransform = getParentTransform(success);
     _transformLock.withWriteLock([&] {
         Transform::inverseMult(_transform, parentTransform, transform);
@@ -432,6 +450,11 @@ glm::vec3 SpatiallyNestable::getScale(int jointIndex) const {
 }
 
 void SpatiallyNestable::setScale(const glm::vec3& scale) {
+    // guard against introducing NaN into the transform
+    if (scale.x != scale.x || scale.y != scale.y || scale.z != scale.z) {
+        qDebug() << "SpatiallyNestable::setLocalScale -- scale contains NaN";
+        return;
+    }
     // TODO: scale
     _transformLock.withWriteLock([&] {
         _transform.setScale(scale);
@@ -448,6 +471,11 @@ const Transform SpatiallyNestable::getLocalTransform() const {
 }
 
 void SpatiallyNestable::setLocalTransform(const Transform& transform) {
+    // guard against introducing NaN into the transform
+    if (transform.containsNaN()) {
+        qDebug() << "SpatiallyNestable::setLocalTransform -- transform contains NaN";
+        return;
+    }
     _transformLock.withWriteLock([&] {
         _transform = transform;
     });
@@ -463,6 +491,11 @@ glm::vec3 SpatiallyNestable::getLocalPosition() const {
 }
 
 void SpatiallyNestable::setLocalPosition(const glm::vec3& position) {
+    // guard against introducing NaN into the transform
+    if (position.x != position.x || position.y != position.y || position.z != position.z) {
+        qDebug() << "SpatiallyNestable::setLocalPosition -- position contains NaN";
+        return;
+    }
     _transformLock.withWriteLock([&] {
         _transform.setTranslation(position);
     });
@@ -478,6 +511,14 @@ glm::quat SpatiallyNestable::getLocalOrientation() const {
 }
 
 void SpatiallyNestable::setLocalOrientation(const glm::quat& orientation) {
+    // guard against introducing NaN into the transform
+    if (orientation.x != orientation.x ||
+        orientation.y != orientation.y ||
+        orientation.z != orientation.z ||
+        orientation.w != orientation.w) {
+        qDebug() << "SpatiallyNestable::setLocalOrientation -- orientation contains NaN";
+        return;
+    }
     _transformLock.withWriteLock([&] {
         _transform.setRotation(orientation);
     });
@@ -494,6 +535,11 @@ glm::vec3 SpatiallyNestable::getLocalScale() const {
 }
 
 void SpatiallyNestable::setLocalScale(const glm::vec3& scale) {
+    // guard against introducing NaN into the transform
+    if (scale.x != scale.x || scale.y != scale.y || scale.z != scale.z) {
+        qDebug() << "SpatiallyNestable::setLocalScale -- scale contains NaN";
+        return;
+    }
     // TODO: scale
     _transformLock.withWriteLock([&] {
         _transform.setScale(scale);
@@ -561,6 +607,10 @@ AACube SpatiallyNestable::getMaximumAACube(bool& success) const {
 }
 
 void SpatiallyNestable::setQueryAACube(const AACube& queryAACube) {
+    if (queryAACube.containsNaN()) {
+        qDebug() << "SpatiallyNestable::setQueryAACube -- cube contains NaN";
+        return;
+    }
     _queryAACube = queryAACube;
     if (queryAACube.getScale() > 0.0f) {
         _queryAACubeSet = true;
diff --git a/libraries/shared/src/Transform.cpp b/libraries/shared/src/Transform.cpp
index c51b3dae4b..9312191922 100644
--- a/libraries/shared/src/Transform.cpp
+++ b/libraries/shared/src/Transform.cpp
@@ -150,3 +150,23 @@ QJsonObject Transform::toJson(const Transform& transform) {
     }
     return result;
 }
+
+bool Transform::containsNaN() const {
+    if (_rotation.x != _rotation.x ||
+        _rotation.y != _rotation.y ||
+        _rotation.z != _rotation.z ||
+        _rotation.w != _rotation.w) {
+        return true;
+    }
+    if (_scale.x != _scale.x ||
+        _scale.y != _scale.y ||
+        _scale.z != _scale.z) {
+        return true;
+    }
+    if (_translation.x != _translation.x ||
+        _translation.y != _translation.y ||
+        _translation.z != _translation.z) {
+        return true;
+    }
+    return false;
+}
diff --git a/libraries/shared/src/Transform.h b/libraries/shared/src/Transform.h
index 310e2d0409..1024173cbd 100644
--- a/libraries/shared/src/Transform.h
+++ b/libraries/shared/src/Transform.h
@@ -145,6 +145,8 @@ public:
     Vec4 transform(const Vec4& pos) const;
     Vec3 transform(const Vec3& pos) const;
 
+    bool containsNaN() const;
+
 protected:
 
     enum Flag {