How can I make my PR2 (real robot) back to its origin pose, the same as which at the start of pr2 in gazebo, like this:

http://ros.org/wiki/pr2_simulator/Tutorials/StartingPR2Simulation?action=AttachFile&do=get&target=pr2.png

Additionally, I want it to move like the "rosrun pr2tuckarm tuckarms.py -r t -l t". Any scripts do the same thing?