def pr():
print matlab(matrixToTuple(zmp.rightSupport())).resstr
@optionalparentheses
def next(): inc()
# --- shortcuts -------------------------------------------------
@optionalparentheses
def q():
print robot.state.__repr__()
@optionalparentheses
def qdot(): print robot.control.__repr__()
@optionalparentheses
def iter(): print 'iter = ',robot.state.time
@optionalparentheses
def status(): print runner.isPlay
@optionalparentheses
def pl(): print matlab( matrixToTuple(zmp.leftSupport()) ).resstr
@optionalparentheses
def pr(): print matlab( matrixToTuple(zmp.rightSupport()) ).resstr
@optionalparentheses
def dump(): history.dumpToOpenHRP('openhrp/screenwash')
#-----------------------------------------------------------------------------
#---- DYN --------------------------------------------------------------------
#-----------------------------------------------------------------------------
modelDir = pkgDataRootDir[robotName]
xmlDir = pkgDataRootDir[robotName]
specificitiesPath = xmlDir + '/HRP2SpecificitiesSmall.xml'
jointRankPath = xmlDir + '/HRP2LinkJointRankSmall.xml'
def pl():
print matlab(matrixToTuple(zmp.leftSupport())).resstr
