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A few years ago when we were taking the PR2s to the Hack the Future event for kids, a few of us at Willow wrote the pr2_hack_the_future stack, which includes a simple web interface, a script queue, and a simplified interface for interacting with the PR2: pr2_simple_interface.

It's currently undocumented, unmaintained, and out of date, but it's probably still better than starting from nothing.

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