Update `generate_exact_ik_solutions()` to use inference format from `generate_ik_solutions()`

[jstmn]

Right now:

• generate_ik_solutions() accepts either a single pose, or a batch of poses. If a single pose, uses an additional parameter n to determine how many solutions
• generate_exact_ik_solutions() should match this design pattern

Also, the retry count should be reduced to increase the solution speed at the cost of success rate