# How to load a PUMA robot in the existing environment in OpenRAVE 0.9

I have a PR2 robot in an environment, which can be seen on the GUI of OpenRAVE.

Now, how can I load a PUMA robot arm in the same environment?

• Not sure how much of a help this is, but... there is a PUMA arm listed in the OpenRAVE robots database... although it only has a 50% success rate. Feb 1 '16 at 15:24

Multiple robots and environments can be loaded. Simply load them and position the robots. Here is a Python example:

#! /usr/bin/env python

from openravepy import *

env = Environment()
env.SetViewer('qtcoin')


Run this with something like: ipython -i my2robots.py