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relax a subset of PR2 controllers

After bringing up a PR2 robot, the controllers are all fixed. I wonder is there a way that I can relax one arm and have other controllers still fixed. Is there anyone who knows how to do this? Thanks a lot!

relax a subset of PR2 controllers

After bringing up a PR2 robot, the controllers are all fixed. I wonder is there a way that I can relax one arm and have other controllers still fixed. Is there anyone Anyone who knows how to do this? Thanks a lot!