text: #!/usr/bin/env python
  # -*- coding: utf-8 -*-
  """Load the HyQ robotic platform.
  """
  
  from itertools import count
  from pyrobolearn.simulators import Bullet
  from pyrobolearn.worlds import BasicWorld
  from pyrobolearn.robots import HyQ
  
  # Create simulator
  sim = Bullet()
  
  # create world
  world = BasicWorld(sim)
  
  # create robot
  robot = HyQ(sim)
  
  # print information about the robot
  robot.print_info()
  
  # # Position control using sliders
  robot.add_joint_slider(robot.left_front_leg)
  
  # run simulator
  for _ in count():
      robot.update_joint_slider()
      robot.compute_and_draw_com_position()
      robot.compute_and_draw_projected_com_position()
      world.step(sleep_dt=1./240)
  