text: #!/usr/bin/env python
  # -*- coding: utf-8 -*-
  """Load the Kuka LWR robotic platform.
  """
  
  from itertools import count
  from pyrobolearn.simulators import Bullet
  from pyrobolearn.worlds import BasicWorld
  from pyrobolearn.robots import KukaLWR
  
  # Create simulator
  sim = Bullet()
  
  # create world
  world = BasicWorld(sim)
  
  # create robot
  robot = KukaLWR(sim)
  
  # print information about the robot
  robot.print_info()
  # H = robot.get_mass_matrix()
  # print("Inertia matrix: H(q) = {}".format(H))
  
  for i in count():
      # step in simulation
      world.step(sleep_dt=1./240)
  