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How to make PR2 back to its origin pose

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?

Asked by Albert K on 2012-11-16 01:26:47 UTC

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