# Desc: Device definitions for typical USC robot configurations# Author: Richard Vaughan, Andrew Howard# Date: 3 July 2002# CVS: $Id: usc_pioneer.inc,v 1.8 2002/11/09 02:32:34 rtv Exp $# use the ActivMedia Pioneer definitions#include "pioneer.inc"define usc_pioneer pioneer2dx(  name "usc_pioneer"  # bps device disabled for now  #  bps()  broadcast()  laser   (    fiducialfinder()     ptz ( lens "wide" blobfinder())  ))# add a P2DX bumper to the usc_pioneer#define usc_pioneer_bumper usc_pioneer(  pioneer2dxbumper())# add a P2DX gripper to the usc_pioneer#define usc_pioneer_gripper usc_pioneer(  gripper ( pose [0.2 0 0] consume "true" ))