New Function for Checking Inverse Kinematics Solutions

New Features:

• Introduced a new built-in function get_inverse_kin_has_solution to check for valid solutions.

Enhancements:

• Improved error handling by recommending get_inverse_kin_has_solution over is_within_safety_limits for solution checks.

Fixed Bugs:

• Fixed an issue where multiple calls to `<code>get_inverse_kin()</code>` with the same pose but varying the `<code>q_near</code>` parameter returned the same first solution.
• Enhanced smooth transitions during safeguard stopping for linear motions.

Open Issues:

Nothing known.

Update Instructions:

Nothing known.