New Script Function and Bug Fixes for Connectivity Products

New Features:

• New built-in script function: `get_inverse_kin_has_solution()` checks if get_inverse_kin can compute a valid solution.

Enhancements:

• Deprecated function: The old function is_within_safety_limits should no longer be used in favor of the new function.

Fixed Bugs:

• Fixed an issue with multiple calls to `get_inverse_kin()`, which now returns different solutions based on the q_near parameter.
• Improved the smooth transition during safeguard stopping for linear motions.

Open Issues:

Nothing known

Update Instructions:

Nothing known