dslemusp

I found a bug related to solving inverse kinematics of a chain with ignored joints such that the `available_dofs` = `required_dofs`. This PR solves it. I added a unit test...

feat(changelog): implement commit processing order as set of steps

14

## Description Currently each commit in the commit list is processed before splitting. This causes an issue when `split_commit` is set to true. Commits in the description are not being...