try to fix head ik

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -205,11 +205,27 @@ namespace armarx
             auto globalPos = targetPosition->toGlobal(localRobot);
             ARMARX_VERBOSE << "Calculating IK for target position " << targetPosition->output();
             ARMARX_VERBOSE << "Calculating IK for target position (global) " << globalPos->output();
-            if (!ikSolver.solve(globalPos->toEigen()))
+            Eigen::Vector3f targetEigen = globalPos->toEigen();
+            bool solutionFound = false;
+            if (!ikSolver.solve(targetEigen))
             {
-                ARMARX_WARNING << "IKSolver found no solution!";
+                ARMARX_IMPORTANT << "IKSolver found no solution, retrying 10cm higher";
+                targetEigen(2) += 100.0f; // add 10cm to z component
+                if (!ikSolver.solve(targetEigen))
+                {
+                    ARMARX_WARNING << "IKSolver found no solution!";
+                }
+                else
+                {
+                    solutionFound = true;
+                }
             }
             else
+            {
+                solutionFound = true;
+            }
+
+            if (solutionFound)
             {
                 ARMARX_DEBUG << "Solution found";
                 NameValueMap targetJointAngles;