Your solution? Physique 57 offers workout DVDs that are absolutely effective and true to the live classes. I own the Volume I workout (all DVDs found here), which includes the classic 57 minute full body workout, the express 30 minute full body workout and the arm and ab booster 30 minute workout. My workout set also came with the Physique 57 exercise ball. This set costs $59.95 plus shipping and handling. Volume II is $10 cheaper, but doesn't include the exercise ball. You can also buy both volumes, including the exercise ball, for $99.90 plus shipping and handling.
I know people that use these workouts several times a week (I also know people that go to the studio several times a week for live classes). Like everything else in life, you get out what you put in! If you put in 100% effort and pay attention to form, despite the burn you will absolutely feel in your legs and abs, then you will benefit from these DVDs. I incorporate these DVDs into my home workouts when I want to deviate from a straight cardio/HIIT/weights routine.
As a final note, I didn't pay the full price for these DVDs. I bought my Volume I set on eBay, including the exercise ball, for a discount. If you are interested in workout DVDs but you are looking to save money, I always suggest checking eBay first!