Can we return more solution in case of axis alignment?

[tlpss]

if the wrist2 joint axis is parallel to the shoulder/elbow, there are 'infinite' solutions to the IK problem. Can we return more? Or can we add functionality to find them all?

Raises a bigger question, how 'complete' is the IK solver? are there other cases where there are solutions that the analytic solver does not return?

[tlpss]

cc @Louadria