[BUG] Multiple TSRs with same base and target breaks DART IK

When multiple TSRs are defined in a DART environment with the same base and target, the IK module from DART only solves for the most recently defined one.

## Expected Behavior

It's expected that the IK module would report information about the TSR that it's being called with.

## Current Behavior

I have an example with two TSRs defined from a table to a cube. The first TSR is considered the placement region for the cube and the second is considered the goal for the cube. Whenever I run anything that calls the IK module (i.e. getErrorWorld or solveWorld from TSR), it only reports the solution for the goal TSR for the cube.

However, if I remove the goal TSR, it provides the correct solution. Additionally, if I define these TSRs in inverse order (goal before the table TSR), I always get the solutions for the table TSR.

## Steps to Reproduce

1. Define two TSRs with the same target and base.
2. Call TSR::solveWorld on the first defined TSR.

## Context (Environment)

For Multi-Modal Planning, we rely on a foliation abstraction on top of TSRs. This means that there will likely be many TSRs defined in a given environment. Without this working, it's not possible to define goal regions as I'd like to atm.