How to make PR2 back to its origin pose [closed]
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 pr2_tuckarm tuck_arms.py -r t -l t". Any scripts do the same thing?