In this video, we demonstrate a controller based on the Moore-Penrose pseudo-inverse which combines control for the PR2's base, torso, and arm. Prior to this proof-of-concept controller, the human operator was required to control the PR2's base, torso, and arms individually. This system, however, allows a teleoperator to control the entire robot by commanding only the end-effector. The motion of the remaining/redundant degrees of freedom is determined to minimize the kinetic energy.