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How can I add a Pioneer 2DX robot in a launch file?

I created a simple world, with the launch file:

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find d03trial01)/worlds/id_maze.world"/>
  </include>
</launch>

I now want to add the Pioneer 2DX robot to this world, specifing an initial position and direction.