Better error checking for ik goal and hold conversions
Better error checking for ik goal and hold conversions

hpbader42/Klampt,arocchi/Klampt,krishauser/Klampt,stevekuznetsov/Klampt,hpbader42/Klampt,stevekuznetsov/Klampt,arocchi/Klampt,krishauser/Klampt,YilunZhou/Klampt,YilunZhou/Klampt,bbgw/Klampt,krishauser/Klampt,krishauser/Klampt,krishauser/Klampt,arocchi/Klampt,stevekuznetsov/Klampt,krishauser/Klampt,bbgw/Klampt,bbgw/Klampt,hpbader42/Klampt,stevekuznetsov/Klampt,bbgw/Klampt,YilunZhou/Klampt,hpbader42/Klampt,hpbader42/Klampt,arocchi/Klampt,YilunZhou/Klampt