Invalid PhysX transform detected

I got some errors when I tried to use RL to train my robot. They informed me that [Warning] [omni.physx.plugin] Invalid PhysX transform detected for /World/xxxxx/xxxxx.

And then I got [Error] [omni.physx.plugin] PhysX error: Illegal BroadPhaseUpdateData , FILE/buildAgent/work/99bede84aa0a52c2/source/lowlevelaabb/src/BpBroadPhaseABP.cpp, LINE 3265

The warning and the subsequent error is saying that there are some infs or NaNs in the transformation matrix. I guess this happened during simulation? Or is this something that happened right at the start? Then it would be good to check the transformation on that prim.