robotd: drop non-finite command targets instead of poisoning the command filters - #238
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pierre-rouanet merged 1 commit intoSep 9, 2026
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…and filters JSON parses 1e400 as infinity, so a client can put one on the wire. Folded into the twist/head/body EMAs it is permanent — ema += α·(inf − ema) is inf on that tick and every tick after — and the safety layer refuses non-finite joint targets rather than clamping them, so a single bad robot.move froze the robot on its hold pose until reboot.
pierre-rouanet
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September 9, 2026 13:05
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Split out from #199.
JSON parses
1e400as infinity, so a client can put one on the wire. Folded into the twist/head/body EMAs it is permanent (ema += α·(inf − ema)isinfon every later tick), and since the safety layer refuses non-finite joint targets rather than clamping them, a single badrobot.movefroze the robot on its hold pose until reboot. The filters now drop non-finite targets.Comes with a regression test.
cargo test -p robotdandcargo fmt --checkare green.