Diff from to

# PumaFK.py

` import time`
` import MDC`
` `
`-class PumaJoint(object):`
`-	def __init__(self, d, a, theta, scale, coupling):`
`-		if scale == 0:`
`-			raise Exception("Invalid scale")`
`-		self.d = d`
`-		self.a = a`
`-		self.theta = theta * pi / 180`
`-		self.scale = scale`
`-		self.coupling = coupling`
`+from Joint import Joint`
` `
` class PumaFK(object):`
` 	def __init__(self, joints):`
` `
` `
` if __name__ == "__main__":`
`-	j1 = PumaJoint(0, 0, 0, -11200 - +12000, 0)`
`-	j2 = PumaJoint(130, 205, -90, +18000 - -18000, 0)`
`-	j3 = PumaJoint(0, 0, +90, -10500 - +11200, 0)`
`-	j4 = PumaJoint(225, 0, -90, +8000 - -8000, 0)`
`-	j5 = PumaJoint(0, 0, 0, -8000 - +8000, 9000/-40000.0)`
`-	j6 = PumaJoint(50, 0, 0, -6500 - +6500, 1200/-10000.0)`
`+	j1 = Joint(0, 0, 0, -11200 - +12000, 0)`
`+	j2 = Joint(130, 205, -90, +18000 - -18000, 0)`
`+	j3 = Joint(0, 0, +90, -10500 - +11200, 0)`
`+	j4 = Joint(225, 0, -90, +8000 - -8000, 0)`
`+	j5 = Joint(0, 0, 0, -8000 - +8000, 9000/-40000.0)`
`+	j6 = Joint(50, 0, 0, -6500 - +6500, 1200/-10000.0)`
` 	r = PumaFK((j1,j2,j3,j4,j5,j6))`
` `
`-	if len(sys.argv) == 6:`
`+	if len(sys.argv) == 6+1:`
` 		counts = [int(x) for x in sys.argv[1:]]`
` 		r.update(counts)`
` 		print r.p`
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