Function improvements and bug fixes for CB-Series only

Improvements

• New built-in function get_inverse_kin_has_solution. This function can be used to check if get_inverse_kin can compute a valid solution and thereby avoid runtime exceptions if no solution is found. It is recommended to use get_inverse_kin_has_solution instead of is_within_safety_limits if the purpose is to check if get_inverse_kin has a solution

Bug fixes

• Fixed an issue where multiple calls to get_inverse_kin() with the same pose but varying the q_near parameter would always return the same first solution. The solution will now reflect the q_near reference joint positions at each function call
• Improved smooth transition when there is a safeguard stopping for linear motions