NJointTaskSpaceImpedanceDMPController: damped IK

source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp

@@ -39,6 +39,7 @@ namespace armarx
 
         tcp =  rns->getTCP();
         ik.reset(new VirtualRobot::DifferentialIK(rns, rtGetRobot()->getRootNode(), VirtualRobot::JacobiProvider::eSVDDamped));
+        ik->setDampedSvdLambda(0.0001);
         numOfJoints = targets.size();
         // set DMP
         TaskSpaceDMPControllerConfig taskSpaceDMPConfig;