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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.

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