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DirectTrajOpt authoring knowledge is stranded in amicode context: the 0.9.6 vs ≥0.9.7 intermediate_callback construction failure, and rich IPM state (inf_pr/inf_du) riding only the raw Ipopt callback. Seed AGENTS.md per the knowledge-routing law.
DirectTrajOpt authoring knowledge is stranded in amicode context: the 0.9.6 vs ≥0.9.7 intermediate_callback construction failure, and rich IPM state (inf_pr/inf_du) riding only the raw Ipopt callback. Seed AGENTS.md per the knowledge-routing law.