fix: reject non-finite Smart Swarm offsets in runtime assignment#136
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Bartok9 wants to merge 1 commit into
Open
fix: reject non-finite Smart Swarm offsets in runtime assignment#136Bartok9 wants to merge 1 commit into
Bartok9 wants to merge 1 commit into
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Coerce inf/nan offset_x/y/z to 0.0 when canonicalizing live assignments so follower geometry cannot absorb non-finite NED/body offsets.
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Summary
build_runtime_swarm_assignmentnow coerces non-finiteoffset_x/offset_y/offset_zto0.0when building the canonical cross-process Smart Swarm assignment.Why
Non-finite offsets parse via bare
floatand can poison follower geometry for the duration of the runtime assignment.Test plan
tests/test_swarm_runtime_state.pywith inf/nan and finite casesAI-assisted; human-reviewed. No arm/geofence changes.