New inverse kinematics function and bug fixes released

New Features:

• Introduced a new built-in function get_inverse_kin_has_solution. This function checks if get_inverse_kin can compute a valid solution, helping to avoid runtime exceptions.

Enhancements:

• Recommended using get_inverse_kin_has_solution instead of is_within_safety_limits for verifying if get_inverse_kin has a solution.

Fixed Bugs:

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

Open Issues:

Nothing known

Update Instructions:

Nothing known