Source

puma / PumaFK.py

Diff from to

PumaFK.py

 
 
 if __name__ == "__main__":
-	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, +17400, 0)
-	j5 = Joint(0, 0, 0, -8000 - +8000, -6917/30674.0)
-	j6 = Joint(50, 0, 0, +6500 - -6500, 1200/-10000.0)
-	r = PumaFK((j1,j2,j3,j4,j5,j6))
+	import PumaConfig
+	r = PumaFK(PumaConfig.joints)
 
 	if len(sys.argv) == 6+1:
 		counts = [int(x) for x in sys.argv[1:]]