Fix CoM task unit test

Author: stephane-caron

examples/humanoid_jvrc_com.py

@@ -121,6 +121,7 @@ def _(handle: viser.TransformControlsEvent) -> None:
             dt,
             solver=solver,
             safety_break=False,
+            damping=1e-10,
         )
         configuration.integrate_inplace(velocity, dt)
         viz.display(configuration.q)

tests/test_solve_ik.py

@@ -420,6 +420,7 @@ def test_com_task_convergence(self):
                 dt,
                 solver="daqp",
                 safety_break=False,
+                damping=1e-10,
             )
             if np.linalg.norm(velocity) < conv_velocity_norm:
                 break