added valid target check

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

@@ -239,6 +239,11 @@ namespace armarx
             debugOutputData.getWriteBuffer().desired_nullspaceJoint[jointNames[i]] = desiredNullSpaceJointValues(i);
 
             targets.at(i)->torque = desiredTorque;
+            if (!targets.at(i)->isValid())
+            {
+                ARMARX_INFO << deactivateSpam(1) << "Torque controller target is invalid - setting to zero! set value: " << targets.at(i)->torque;
+                targets.at(i)->torque = 0.0f;
+            }
         }
 
         debugOutputData.getWriteBuffer().currentCanVal = dmpCtrl->debugData.canVal;