remove setting ipopt.tol, only set acceptable_tol

guided_mrmp/controllers/mpc.py

@@ -119,7 +119,7 @@ class MPC:
 
         solver_options = {'ipopt.print_level': self.print_level, 
                           'print_time': self.print_time, 
-                          'ipopt.tol': self.acceptable_tol,
+                        #   'ipopt.tol': 1e-3,
                           'ipopt.acceptable_tol': self.acceptable_tol, 
                           'ipopt.acceptable_iter': self.acceptable_iter}