CS2 Robot Arm

This is the second assignment i wrote for cs2..
robot arm's been in the cs2 curriculum, but in java.
With this year's aim to overhaul cs2 and to switch to python, everything has to be rewritten.

The basic framework wasn't much of a problem, since I have rewritten the same assignment for cs171 last term already. The problem is, how to make it more understandable and -- if you will -- more hand-holding for the students?

I ended up adding several components that will check their answers, so they can have more milestones..

.. but that sounds funny.. if i check their answers, that means the code we provide must compute the answer! Yes it does, but since I can write obfuscated code without much effort, that wasn't much of a problem. Actually, that's not the reason why I dont worry -- the answer is computed implicitly using some opengl tricks that i doubt anyone will bother decoding..

anyway that took forever to write, but its a nice assignment with key concepts

Continuation methods, pseudoinverses, finite differences, and rankmaniac 2010