[hrpsys_config.py] start stabilizer after auto-balancer in startDefau…

…ltUnstableControllers
snozawa · Dec 26, 2015 · 822d14a · 822d14a
1 parent e12ba01
commit 822d14a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/python/hrpsys_config.py b/python/hrpsys_config.py
@@ -1997,7 +1997,6 @@ def startDefaultUnstableControllers (self, ic_limbs=["rarm", "larm"], abc_limbs=
  Start default unstable RTCs controller mode.
  Currently Stabilzier, AutoBalancer, and ImpedanceController are started.
  '''
- self.startStabilizer()
  for limb in ic_limbs:
  self.ic_svc.startImpedanceControllerNoWait(limb)
  if abc_limbs==None:
@@ -2006,6 +2005,7 @@ def startDefaultUnstableControllers (self, ic_limbs=["rarm", "larm"], abc_limbs=
  else:
  abc_limbs=["rleg", "lleg"]
  self.startAutoBalancer(abc_limbs)
+ self.startStabilizer()
  for limb in ic_limbs:
  self.ic_svc.waitImpedanceControllerTransition(limb)