diff --git a/AGENTS.md b/AGENTS.md
index aca6075b0..45a3287a4 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -98,3 +98,15 @@ This project follows the [Conventional Commits](https://www.conventionalcommits.
 -   The `config.toml` in the repo root is the working config file; `rai-config-init` is only for pip-installed users, not developers using the repo.
 -   The Streamlit configurator (`rai/frontend/configurator.py`) is an optional GUI; all configuration can be done by editing `config.toml` directly.
 -   Many test modules import ROS 2 packages (`rclpy`, `geometry_msgs`, etc.) at module level, so ROS 2 must be sourced even to collect tests.
+
+## Fresh clone / correct worktree (PERMANENT — Daniel 2026-07-28)
+
+Before PR audit, main-comparison greps, salvage, rebase, or Cursor coding on this repo:
+
+1. `git remote -v` + `git rev-parse --show-toplevel` must match the intended `org/repo` (this Bartok9 repo or the upstream you are patching).
+2. Prefer a disposable clone for read-only “still needed on main?” audits: `/tmp/<repo>-review-$$` via `gh repo clone … -- --depth=1`.
+3. Existing clones OK only after fetch + correct branch tip; confirm PR-touched paths exist.
+4. Wrong tree once → **re-clone**. Do not keep grepping a foreign or polluted worktree (openpi 2026-07-28).
+5. Never `git reset --hard` on shared/production worktrees; delete disposable `/tmp` clones instead.
+6. Full law: skill `upstream-pr-engineering` **§27** · clawd `AGENTS.md`.
+
diff --git a/src/rai_bench/rai_bench/manipulation_o3de/tasks/place_at_coord_task.py b/src/rai_bench/rai_bench/manipulation_o3de/tasks/place_at_coord_task.py
index 69811fd3a..b55c77e7a 100644
--- a/src/rai_bench/rai_bench/manipulation_o3de/tasks/place_at_coord_task.py
+++ b/src/rai_bench/rai_bench/manipulation_o3de/tasks/place_at_coord_task.py
@@ -49,9 +49,21 @@ def __init__(
             Defaults to 0.02.
         """
         super().__init__(logger)
+        if not isinstance(obj_type, str) or not obj_type.strip():
+            raise ValueError("obj_type must be a non-empty string")
+        if (
+            not isinstance(target_position, tuple)
+            or len(target_position) != 2
+            or not all(isinstance(v, (int, float)) and math.isfinite(float(v)) for v in target_position)
+        ):
+            raise ValueError("target_position must be a pair of finite numbers")
+        if not isinstance(allowable_displacement, (int, float)) or not math.isfinite(float(allowable_displacement)):
+            raise ValueError("allowable_displacement must be a finite number")
+        if float(allowable_displacement) <= 0:
+            raise ValueError("allowable_displacement must be positive")
         self.obj_type = obj_type
-        self.target_position = target_position
-        self.allowable_displacement = allowable_displacement
+        self.target_position = (float(target_position[0]), float(target_position[1]))
+        self.allowable_displacement = float(allowable_displacement)
 
     @property
     def task_prompt(self) -> str:
diff --git a/tests/rai_bench/manipulation_o3de/tasks/test_place_at_coords_task.py b/tests/rai_bench/manipulation_o3de/tasks/test_place_at_coords_task.py
index 06735bf14..7ec024e01 100644
--- a/tests/rai_bench/manipulation_o3de/tasks/test_place_at_coords_task.py
+++ b/tests/rai_bench/manipulation_o3de/tasks/test_place_at_coords_task.py
@@ -60,3 +60,23 @@ def test_calculate_multiple_objects_none_correct() -> None:
     correct, incorrect = task.calculate_correct([e1, e2])
     assert correct == 0
     assert incorrect == 1
+
+import math
+import pytest
+
+
+def test_reject_non_positive_allowable_displacement() -> None:
+    with pytest.raises(ValueError):
+        PlaceObjectAtCoordTask("carrot", (0.5, 0.5), allowable_displacement=0.0)
+    with pytest.raises(ValueError):
+        PlaceObjectAtCoordTask("carrot", (0.5, 0.5), allowable_displacement=-0.01)
+
+
+def test_reject_empty_obj_type() -> None:
+    with pytest.raises(ValueError):
+        PlaceObjectAtCoordTask("", (0.5, 0.5))
+
+
+def test_reject_non_finite_target() -> None:
+    with pytest.raises(ValueError):
+        PlaceObjectAtCoordTask("carrot", (math.nan, 0.5))