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Coincident and near-coincident roots: decide multiplicity structurally, not with fixed thresholds
bugSomething isn't workingSomething isn't workingStatus: Open.Native general_6r_tensor_solve segfaults on JACO 2 with linearity joint 0
bugSomething isn't workingSomething isn't workingStatus: Open.#599 In personalrobotics/ssik;seven_r.srs_polished: no IK for a reachable j2s7 pose (pre-existing, fails on main)
bugSomething isn't workingSomething isn't workingStatus: Open.#598 In personalrobotics/ssik;spherical_two_intersecting: cached Hypothesis counterexample not recovered (pre-existing, fails on main)
bugSomething isn't workingSomething isn't workingStatus: Open.#597 In personalrobotics/ssik;±π representative is chosen per solver and per backend: 2π flips across families, and −2π for home-like JACO poses
bugSomething isn't workingSomething isn't workingStatus: Open.General 6R: repeated eigenvalues (shared linearity-joint value) lose branches on both backends
bugSomething isn't workingSomething isn't workingStatus: Open.- Status: Open.#591 In personalrobotics/ssik;
cpp_emit is not byte-deterministic for 11 arms: float-noise churn on re-emit
bugSomething isn't workingSomething isn't workingStatus: Open.#585 In personalrobotics/ssik;Keep branch contracts orthogonal and pin every RR linearity choice
enhancementNew feature or requestNew feature or requestStatus: Open.Harden empirical branch-golden generation and fixture trust invariants
enhancementNew feature or requestNew feature or requestStatus: Open.Solution charts: remaining work after #579
enhancementNew feature or requestNew feature or requestStatus: Open.#578 In personalrobotics/ssik;Generate solver architecture and public contract docs from sources of truth
documentationImprovements or additions to documentationImprovements or additions to documentationStatus: Open.