Add Solver - Claude Adapter

Canonical source: .agents/skills/add-solver/

When to use

• adding a new kinematic (IK/FK) solver
• scaffolding the solver module plus its docs, unit test, and benchmark entry together
• a new robot family needs a closed-form / numerical / Warp-kernel IK backend

Start here

1. Use this adapter when the task asks for a new kinematic solver.
2. Then follow .agents/skills/add-solver/SKILL.md.

The full procedure — solver module, (optional) Warp kernel, Sphinx docs page, unit test, benchmark entry, registration in __init__.py and the docs toctree, plus black and verification under conda activate embodichain — is defined in the canonical skill.