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  1. save.py
    1. load.py

Contains a pair of nodes to save and reload poses of the PR2. Both nodes expect the standard suite of PR2 controllers to be up. Also check out the bash/compgen_hooks.sh script for tab completion on pose files.


save.py FILENAME

Saves the current pose of the pr2 to the given file.


load.py FILENAME

Make the pr2's pose (not including the base pose) be the one specified in the file. Does no collision avoidance, so make sure there aren't any obstacles around. Also, if it fails for some reason, e.g., its arms get tangled up, it currently has no way of signalling failure, so will just stop eventually.

2024-07-20 13:25