Merge remote-tracking branch 'origin/master' into RelativePlatformController

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

@@ -22,7 +22,7 @@ namespace armarx
 
             if (leftRNS->getNode(i)->isLimitless())
             {
-                leftNullSpaceCoefs(i) = 0;
+                leftNullSpaceCoefs(i) = 1;
             }
 
             leftJointNames.push_back(jointName);
@@ -63,7 +63,7 @@ namespace armarx
 
             if (rightRNS->getNode(i)->isLimitless())
             {
-                rightNullSpaceCoefs(i) = 0;
+                rightNullSpaceCoefs(i) = 1;
             }
 
             rightJointNames.push_back(jointName);