cleaned up a bit

script/masterloop.py

@@ -33,7 +33,6 @@ AI = False  # autoimitate
 state = 'dead'  # Also walk, imitate, fallen, idle
 hand_state = 'closed'
 speech_in_progress = False
-
 mp = ALProxy('ALMotion', os.environ['NAO_IP'], 9559)
 
 
@@ -118,7 +117,7 @@ def handle_request(r):
         if message in ('falling', 'fallen'):
             state = 'fallen'
         elif message == 'recovered':
-            state = 'idle'
+            state = 'dead'
 
     elif module == 'imitator':
         if message == 'imitate':
@@ -161,6 +160,8 @@ if __name__ == '__main__':
     am = ALProxy('ALAutonomousMoves', os.environ['NAO_IP'], 9559)
     am.setExpressiveListeningEnabled(False)
 
+    hands('close')
+
     ic = rospy.Service('inform_masterloop', InformMasterloop, handle_request)
 
     def _shutdown():