env.reload() reports an error [ValueError: Found zero norm quaternions in quat]

[dexin-wang]

Describe the bug
A clear and concise description of what the bug is.
env.reload() reports an error [ValueError: Found zero norm quaternions in quat]

To Reproduce

import omnigibson as og
import torch
import omnigibson.lazy as lazy
from omnigibson import object_states
import omnigibson.utils.transform_utils as T

cfg = dict()

# Define scene
cfg["scene"] = {
    "type": "Scene",
    "floor_plane_visible": True,
}

# Define objects
cfg["objects"] = [
    # dataset
    {
        "type": "DatasetObject",
        "name": "cutting_board",
        "category": "cutting_board",
        "model": "jfrbuz",
        "position": [0, 0, 1],
        "fixed_base": True,
    },
    {
        "type": "DatasetObject",
        "name": "carving_knife",
        "category": "carving_knife",
        "model": "alekva",
        "position": [0, 0, 1.5]
    },
]


# Create the environment
env = og.Environment(cfg)

# place table to ground
table = env.scene.object_registry("name", "cutting_board")
table.set_orientation([0, 0, 0, 1.0])
env.step([])
offset = table.get_position_orientation()[0][2] - table.aabb_center[2]
table.set_position_orientation(position=torch.tensor([0, 0, table.aabb_extent[2] / 2+ offset]))
env.step([])

for t in range(100):
    env.step([])

og.sim.stop()

env.reload(cfg)

og.clear()

error

Traceback (most recent call last):
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/test/ontop.py", line 43, in <module>
    env = og.Environment(cfg)
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/utils/python_utils.py", line 93, in wrapper
    func(*values.args, **values.kwargs)
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/envs/env_base.py", line 141, in __init__
    self.load()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/envs/env_base.py", line 439, in load
    self._load_objects()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/envs/env_base.py", line 323, in _load_objects
    self.scene.add_object(obj)
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/scenes/scene_base.py", line 630, in add_object
    prim = obj.load(self)
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/objects/object_base.py", line 123, in load
    prim = super().load(scene)
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/prims/prim_base.py", line 116, in load
    self._post_load()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/objects/dataset_object.py", line 241, in _post_load
    super()._post_load()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/objects/stateful_object.py", line 144, in _post_load
    super()._post_load()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/objects/object_base.py", line 161, in _post_load
    super()._post_load()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/prims/entity_prim.py", line 127, in _post_load
    self.update_links()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/prims/entity_prim.py", line 259, in update_links
    self._links[link_name].load(self.scene)
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/prims/prim_base.py", line 116, in load
    self._post_load()
  File "/home/wdx/research/general_manipulation_v1/RoboGen_wdx/omnigibson/prims/rigid_prim.py", line 93, in _post_load
    self._rigid_prim_view_direct = RigidPrimView(self.prim_path)
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/prims/rigid_prim_view.py", line 145, in __init__
    XFormPrimView.__init__(
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/prims/xform_prim_view.py", line 175, in __init__
    self._set_xform_properties()
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/prims/xform_prim_view.py", line 322, in _set_xform_properties
    self.set_world_poses(positions=current_positions, orientations=current_orientations)
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/prims/rigid_prim_view.py", line 367, in set_world_poses
    XFormPrimView.set_world_poses(
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/prims/xform_prim_view.py", line 940, in set_world_poses
    calculated_translations, calculated_orientations = self._backend_utils.get_local_from_world(
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/utils/torch/transformations.py", line 44, in get_local_from_world
    my_world_transforms = tf_matrices_from_poses(translations=positions, orientations=orientations, device=device)
  File "/home/wdx/.local/share/ov/pkg/isaac-sim-4.1.0/exts/omni.isaac.core/omni/isaac/core/utils/torch/transformations.py", line 34, in tf_matrices_from_poses
    r = Rotation.from_quat(orientations[:, [1, 2, 3, 0]].detach().cpu().numpy())
  File "_rotation.pyx", line 637, in scipy.spatial.transform._rotation.Rotation.from_quat
  File "_rotation.pyx", line 532, in scipy.spatial.transform._rotation.Rotation.__init__
ValueError: Found zero norm quaternions in `quat`.

Desktop (please complete the following information):

• OS: [e.g. Ubuntu 20.04]
• Isaac Sim Version [e.g. 4.1.0]
• OmniGibson Version [e.g. 1.1.0]