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