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?
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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') env.Load("pr2-beta-sim.robot.xml") env.Load("puma.robot.xml") pr2 = env.GetRobot('pr2') puma = env.GetRobot('PumaGripper') puma.SetTransform([1,0,0,0,0,1,0])
Run this with something like:
ipython -i my2robots.py
For an example in C++, see this example.