Accept scalar-array SO3 covariance regularization

[FlorianPfaff]

Summary

• allow zero-dimensional NumPy scalar arrays for SO(3) covariance_regularization validation
• keep booleans, text, non-scalar arrays, negative values, and non-finite values rejected
• add regression tests for accepted scalar-array values and invalid values

Bug fixed

SO(3) conversion validation treated covariance_regularization as valid only when it was a numbers.Real instance. This incorrectly rejected zero-dimensional NumPy scalar arrays such as np.array(1e-6), even though they represent a valid finite scalar and can naturally arise when regularization is computed with array operations.

Testing

• python -m py_compile /mnt/data/so3_conversion.py /mnt/data/test_so3_conversion_validation.py

Full repository pytest was not run because this environment could not clone GitHub (Could not resolve host: github.com).

[github-actions]

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