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

slouch_detector/main.py

@@ -303,7 +303,7 @@ class SlouchDetector(ReachyMiniApp):
     def _return_head_to_position(self, reachy: ReachyMini) -> None:
         """Return head to the look-up position after an emotion."""
         look_up_pose = create_head_pose(pitch=HEAD_PITCH_UP_DEG, degrees=True)
-        reachy.goto_target(head=look_up_pose, antennas=[0.0, 0.0], duration=0.5)
+        reachy.goto_target(head=look_up_pose, antennas=[-0.1745, 0.1745], duration=0.5)
 
     def _play_wav_chunked(
         self,
@@ -353,7 +353,7 @@ class SlouchDetector(ReachyMiniApp):
         look_up_pose = create_head_pose(pitch=HEAD_PITCH_UP_DEG, degrees=True)
         reachy.enable_motors()
         time.sleep(0.1)
-        reachy.goto_target(head=look_up_pose, antennas=[0.0, 0.0], duration=1.0)
+        reachy.goto_target(head=look_up_pose, antennas=[-0.1745, 0.1745], duration=1.0)
 
         if stop_event.is_set():
             return
@@ -369,7 +369,7 @@ class SlouchDetector(ReachyMiniApp):
             reachy.enable_motors()
             time.sleep(0.1)
             reachy.goto_target(
-                head=create_head_pose(), antennas=[0.0, 0.0], duration=1.0
+                head=create_head_pose(), antennas=[-0.1745, 0.1745], duration=1.0
             )
             reachy.disable_motors()
         except Exception as exc: