try to use best pose for HeadIK

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -201,6 +201,7 @@ namespace armarx
             }
             VirtualRobot::GazeIK ikSolver(kinematicChain, virtualJoint);
             ikSolver.enableJointLimitAvoidance(true);
+            ikSolver.setup(10.0, 15, 50);
 
             auto globalPos = targetPosition->toGlobal(localRobot);
             ARMARX_VERBOSE << "Calculating IK for target position " << targetPosition->output();
@@ -225,7 +226,7 @@ namespace armarx
                 solutionFound = true;
             }
 
-            if (solutionFound)
+            if (solutionFound || true) // go to the best found pose anyways
             {
                 ARMARX_DEBUG << "Solution found";
                 NameValueMap targetJointAngles;