No, I would not. RC servos cannot follow specifically-defined trajectories, otherwise known as splines (ie. be at encoder position X at time Y), as RC servos r

No, I would not. RC servos cannot follow specifically-defined trajectories, otherwise known as splines (ie. be at encoder position X at time Y), as RC servos rely on very basic (analog) position feedback. Some of the lowest-level PR2 controllers require the specification of splines to achieve accurate motion.