[Proposal] Make reach task with IK controller more stable

## 📌 Issue Type

- Bug Report

## 📝 Description

The Reach task with the IK controller result isn't perfect, the video is findable here: https://github.com/MuammerBay/isaac_so_arm101/pull/61

I think it's probably because of the config, on the Isaac Lab repository, the example for franka use a different config for ik than for joint pos controller with a higher PD. 