text: # -*- coding: utf-8 -*-
  # Copyright 2021, Joseph Mirabel, Florent Lamiraux,
  
  # sys.argv is not defined when running the remove interpreter, but it is
  # required by rospy
  import sys
  
  from dynamic_graph.sot.universal_robot.sot_universal_robot_device \
      import DeviceUniversalRobot
  from dynamic_graph.sot.universal_robot import UniversalRobot as Robot
  
  if not hasattr(sys, 'argv'):
      sys.argv = [
          "dynamic_graph",
      ]
  
  print("Prologue UniversalRobot")
  
  
  # Create the device.
  # This entity behaves exactly like robotsimu except:
  # 1. it does not provide the increment command
  # 2. it forwards the robot control to the sot-abstract
  #    controller.
  def makeRobot():
      # Create the robot using the device.
      robot = Robot(name='ur', device=DeviceUniversalRobot('UniversalRobot'))
      return robot
  
  