Use new antenna neutral position [-0.1745, 0.1745] to reduce shaking

marionette/main.py

@@ -176,7 +176,7 @@ class Marionette(DatasetMixin, RecordingMixin, StateMixin, ReachyMiniApp):
         self._goto_pose_scaled(
             reachy_mini,
             INIT_HEAD_POSE,
-            antennas=[0.0, 0.0],
+            antennas=[-0.1745, 0.1745],
             min_duration=0.2,
         )
         print(
@@ -320,7 +320,7 @@ class Marionette(DatasetMixin, RecordingMixin, StateMixin, ReachyMiniApp):
         self._goto_pose_scaled(
             reachy_mini,
             INIT_HEAD_POSE,
-            antennas=[0.0, 0.0],
+            antennas=[-0.1745, 0.1745],
             min_duration=0.2,
         )
 
@@ -330,7 +330,7 @@ class Marionette(DatasetMixin, RecordingMixin, StateMixin, ReachyMiniApp):
         self._goto_pose_scaled(
             reachy_mini,
             INIT_HEAD_POSE,
-            antennas=[0.0, 0.0],
+            antennas=[-0.1745, 0.1745],
             min_duration=0.2,
         )
         self._goto_sleep_and_release(reachy_mini)

tests/test_antenna_collision.py

@@ -7,7 +7,7 @@ so detection alignment is unambiguous.
 
 Collision setup:
   - Right antenna fixed at -0.68 rad
-  - Left antenna moves from 0.0 to 0.70 rad (collision at ~0.60 rad)
+  - Left antenna moves from -0.1745 to 0.70 rad (collision at ~0.60 rad)
   - Hold 100ms, then return to rest
   - Low PID + flexible antennas = safe, produces audible click
 
@@ -32,7 +32,7 @@ import numpy as np
 
 # Collision parameters
 RIGHT_REST = -0.68    # right antenna fixed position (rad)
-LEFT_REST = 0.0       # left antenna rest position (rad)
+LEFT_REST = -0.1745   # left antenna rest position (rad) ~10° offset to reduce shaking
 LEFT_COLLISION = 0.70 # left antenna collision target (past contact at ~0.60)
 HOLD_DURATION = 0.2   # seconds to hold at collision position
 

tests/test_beep_collision_sync.py

@@ -48,7 +48,7 @@ ROBOT_SR = 16000
 
 # Collision parameters
 RIGHT_REST = -0.68
-LEFT_REST = 0.0
+LEFT_REST = -0.1745
 LEFT_COLLISION = 0.70
 HOLD_DURATION = 0.2
 

tests/test_collision_mic.py

@@ -35,7 +35,7 @@ from audio_analysis import detect_transient_onsets
 
 # Collision parameters (same as test_antenna_collision.py)
 RIGHT_REST = -0.68
-LEFT_REST = 0.0
+LEFT_REST = -0.1745
 LEFT_COLLISION = 0.70
 HOLD_DURATION = 0.2
 COLLISION_TIMES = [1.0, 2.3, 4.0, 6.3, 9.4]

tests/test_marionette_sync.py

@@ -43,7 +43,7 @@ ROBOT_SR = 16000
 
 # Collision
 RIGHT_REST = -0.68
-LEFT_REST = 0.0
+LEFT_REST = -0.1745
 LEFT_COLLISION = 0.70
 HOLD_DURATION = 0.2
 

tests/test_move_sync.py

@@ -42,7 +42,7 @@ ROBOT_SR = 16000
 
 # Collision
 RIGHT_REST = -0.68
-LEFT_REST = 0.0
+LEFT_REST = -0.1745
 LEFT_COLLISION = 0.70
 HOLD_DURATION = 0.2