diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py
index 207a5ba40..08057626c 100644
--- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py
+++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda.py
@@ -3,7 +3,7 @@ import pybullet_data as pd
 import math
 import time
 import numpy as np
-import panda_sim
+import pybullet_robots.panda.panda_sim as panda_sim
 
 p.connect(p.GUI)
 p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
@@ -18,4 +18,4 @@ while (1):
 	panda.step()
 	p.stepSimulation()
 	time.sleep(timeStep)
-	
\ No newline at end of file
+	
diff --git a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py
index d6fd15687..b31b39a8f 100644
--- a/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py
+++ b/examples/pybullet/gym/pybullet_robots/panda/loadpanda_grasp.py
@@ -3,7 +3,7 @@ import pybullet_data as pd
 import math
 import time
 import numpy as np
-import panda_sim_grasp as panda_sim
+import pybullet_robots.panda.panda_sim_grasp as panda_sim
 
 #video requires ffmpeg available in path
 createVideo=False
diff --git a/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py b/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py
new file mode 100644
index 000000000..f25097975
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_robots/xarm/loadxarm_sim.py
@@ -0,0 +1,20 @@
+import pybullet as p
+import pybullet_data as pd
+import math
+import time
+import numpy as np
+import pybullet_robots.xarm.xarm_sim as xarm_sim
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+timeStep=1./60.
+p.setTimeStep(timeStep)
+p.setGravity(0,0,-9.8)
+ 
+xarm = xarm_sim.XArm6Sim(p,[0,0,0])
+while (1):
+	xarm.step()
+	p.stepSimulation()
+	time.sleep(timeStep)
+