New Function and Bug Fixes Improve Connectivity Products

New Features:

• New built-in function `get_inverse_kin_has_solution` to check if `get_inverse_kin` can compute a valid solution.

Enhancements:

• Improved smooth transition when safeguard stops for linear motions.

Fixed Bugs:

• Fixed an issue where multiple calls to `get_inverse_kin()` with the same pose and varying `q_near` parameter previously returned the same first solution.

Open Issues:

Nothing known

Update instructions

Nothing known

Update Instructions: