usage: prt_wm [[-i <directory>] [-o <outfile>] [-r <root>] [-e <entity>] [-ANSRdPglLkjJwpasKtT#*]]
   i <wmdir> - the cell/component directory
   o <outfile> - the printout destination
   r <root> - name of a subtree to be printed
   e <entity> - name of single entity to print
   A - show all entities
   N - nice printout
   S - sorted printout
   R - list prototypes
   d - default details
   P - prototype references
   g - geometry
   l - locations (rpy)
   L - locations (orientation matrix)
   k - general kinematic data
   j - kinematic & joints data
   J - detailed joints data
   w - workpoints data
   p - paths data
   a - attributes
   s - sons
   K - key (for internal use)
   t - S+d+k+l+p+w+j+a (test mode)
   T - A+S+d+k+l+p+w+j+a (test mode)
   # - d+g+k
   * - d+g+l+k