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Whenever you call spawn_model, a new robot is added to your simulation. You just have to call it 3 times in your launchfile.

rosrun gazebo_ros spawn_model -file `rospack find baxter_description`/urdf/baxter.urdf -urdf -z 1 -model baxter

This should teach you everything: http://gazebosim.org/tutorials?tut=ros_roslaunch

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