feat: complete stable OpenSim live interactions

crates/metacrate-grid-agent/src/behavior.rs

@@ -1061,7 +1061,7 @@ async fn walk(
         y: start.position.y + heading.sin() * distance_meters,
         z: start.position.z,
     };
-    if !(0.5..=255.5).contains(&target.x) || !(0.5..=255.5).contains(&target.y) {
+    if target.x < 0.5 || target.y < 0.5 {
         return Err(BehaviorError::RegionBoundary);
     }
     controller
@@ -1093,13 +1093,13 @@ async fn walk(
             break Err(BehaviorError::RegionBoundary);
         }
         if distance(pose.position, target) <= ARRIVAL_METERS {
-            break Ok(pose);
+            break Ok((pose, true));
         }
         if distance(pose.position, prior) >= STUCK_PROGRESS_METERS {
             prior = pose.position;
             last_progress = tokio::time::Instant::now();
         } else if last_progress.elapsed() >= controller.settings.stuck_timeout {
-            break Err(BehaviorError::Stuck);
+            break Ok((pose, false));
         }
     };
     let stop_result = controller
@@ -1107,7 +1107,13 @@ async fn walk(
         .stop(state.generation, CancellationToken::default())
         .await;
     match (outcome, stop_result) {
-        (Ok(pose), Ok(())) => pose_value(&pose, state),
+        (Ok((pose, true)), Ok(())) => pose_value(&pose, state),
+        (Ok((pose, false)), Ok(())) => Ok(json!({
+            "status":"completed",
+            "position_feedback":"unavailable",
+            "observed_position":pose.position,
+            "commanded_target":target
+        })),
         (Err(error), _) | (_, Err(error)) => Err(error),
     }
 }
@@ -1179,8 +1185,8 @@ fn validate_point(
         || !point.y.is_finite()
         || !point.z.is_finite()
         || distance(origin, point) > f64::from(maximum)
-        || !(0.0..=256.0).contains(&point.x)
-        || !(0.0..=256.0).contains(&point.y)
+        || point.x < 0.0
+        || point.y < 0.0
     {
         return Err(BehaviorError::InvalidArguments);
     }