From e123b73a5f81fae8e861b729d8c48c5980b8e0da Mon Sep 17 00:00:00 2001
From: rachelmoan <moanrachel516@gmail.com>
Date: Mon, 21 Oct 2024 01:33:18 -0500
Subject: [PATCH] remove setting ipopt.tol, only set acceptable_tol
---
guided_mrmp/controllers/mpc.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/guided_mrmp/controllers/mpc.py b/guided_mrmp/controllers/mpc.py
index d87557c..dec7a8a 100644
--- a/guided_mrmp/controllers/mpc.py
+++ b/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}
--
GitLab