diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index f6ae275..1f08940 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -558,6 +558,15 @@ class IrisLoader(RobotLoader):
     free_flyer = True
 
 
+class PR2Loader(RobotLoader):
+    path = "pr2_description"
+    urdf_filename = "pr2.urdf"
+    urdf_subpath = "urdf"
+    srdf_filename = "pr2.srdf"
+    free_flyer = True
+    ref_posture = "tuck_left_arm"
+
+
 ROBOTS = {
     "b1": B1Loader,
     "go1": Go1Loader,
@@ -593,6 +602,7 @@ class IrisLoader(RobotLoader):
     "solo8": Solo8Loader,
     "solo12": Solo12Loader,
     "finger_edu": FingerEduLoader,
+    "pr2": PR2Loader,
     "talos": TalosLoader,
     "talos_box": TalosBoxLoader,
     "talos_arm": TalosArmLoader,
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 3a3a888..db79c84 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -139,6 +139,9 @@ def test_talos(self):
     def test_laikago(self):
         self.check("laikago", 19, 18)
 
+    def test_pr2(self):
+        self.check("pr2", 41, 36)
+
     def test_talos_box(self):
         self.check("talos_box", 39, 38)