This short video shows a PR2 robot simultaneously in the MORSE open-source robotics simulator (morse.openrobots.org) and in the RViz ROS visualization tool.
The robot "tucks" its arms with the standard ROS tool "pr2_tuck_arms", without any particular configuration.
Besides MORSE, RViz and the 'pr2_tuck_arms' ROS node, the only running ROS node was "robot_state_publisher" that provides the TF transformation for the robot based on the PR2 joint state produced by MORSE.
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