Add check for valid world pose cmd values

[iche033]

🦟 Bug fix

gazebosim/gz-gui#615 (comment)

Summary

Check to make sure the pose cmd value is finite and orientation is non-zero.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Attention: Patch coverage is 62.50000% with 3 lines in your changes missing coverage. Please review.

Project coverage is 68.86%. Comparing base (ab18888) to head (827afee).
Report is 124 commits behind head on gz-sim8.

Files with missing lines	Patch %	Lines
src/systems/physics/Physics.cc	62.50%	3 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##           gz-sim8    #2640      +/-   ##
===========================================
+ Coverage    65.75%   68.86%   +3.10%     
===========================================
  Files          327      339      +12     
  Lines        31233    32856    +1623     
===========================================
+ Hits         20537    22625    +2088     
+ Misses       10696    10231     -465     

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