New Function and Bug Fixes Enhance Inverse Kinematics Module

New Features:

• Added a new builtin script function `get_inverse_kin_has_solution()` to validate solutions.

Enhancements:

• The function `get_inverse_kin_has_solution()` replaces the deprecated `is_within_safety_limits`.

Fixed Bugs:

• Fixed an issue where multiple calls to `get_inverse_kin()` with the same pose but varying the q_near parameter returned the same first solution.
• Improved smooth transition when safeguarding during linear motions.

Open Issues:

Nothing known

Update Instructions:

Nothing known