diff --git a/mimic3/scripts/mimic_external_axes.py b/mimic3/scripts/mimic_external_axes.py index ef475ea..0d63121 100644 --- a/mimic3/scripts/mimic_external_axes.py +++ b/mimic3/scripts/mimic_external_axes.py @@ -622,7 +622,7 @@ def add_external_axis(*args): keyable=False, attributeType='long', minValue=1, - maxValue=6, + maxValue=16, defaultValue=1, parent=parent_attribute) pm.addAttr(target_CTRL, diff --git a/mimic3/scripts/mimic_program.py b/mimic3/scripts/mimic_program.py index 041c65f..3ea41aa 100644 --- a/mimic3/scripts/mimic_program.py +++ b/mimic3/scripts/mimic_program.py @@ -1163,7 +1163,7 @@ def _sample_frame_get_external_axes(robot_name, frame): key_axis_number = 'Axis Number' key_position = 'Position' # Create an list of Nones for initial external axes - external_axes = [None for _ in range(6)] + external_axes = [None for _ in range(16)] # Get all external axes for this robot external_axis_names = mimic_external_axes.get_external_axis_names(robot_name) # Get info dict for each of those external axes diff --git a/mimic3/scripts/mimic_ui.py b/mimic3/scripts/mimic_ui.py index e268daa..a7d2e0a 100644 --- a/mimic3/scripts/mimic_ui.py +++ b/mimic3/scripts/mimic_ui.py @@ -1030,7 +1030,7 @@ def __set_limit_display_units(*args): label='Axis Number:', height=18) - axis_number_list = [i + 1 for i in range(6)] + axis_number_list = [i + 1 for i in range(16)] for axis_number in axis_number_list: cmds.menuItem(label=axis_number) diff --git a/mimic3/scripts/postproc/ABB/RAPID/rapid.py b/mimic3/scripts/postproc/ABB/RAPID/rapid.py index 7d91815..e97ac83 100644 --- a/mimic3/scripts/postproc/ABB/RAPID/rapid.py +++ b/mimic3/scripts/postproc/ABB/RAPID/rapid.py @@ -334,6 +334,7 @@ def _process_motion_command(command, opts): # Implement in base class! if command.external_axes is not None: external_axes = [axis if axis is not None else '9E9' for axis in command.external_axes] + external_axes = external_axes[:6] params = [general_utils.num_to_str(p, include_sign=False, precision=3) for p in external_axes] target_data.extend(params) @@ -355,6 +356,7 @@ def _process_motion_command(command, opts): # Implement in base class! if command.external_axes is not None: external_axes = [axis if axis is not None else '9E9' for axis in command.external_axes] + external_axes = external_axes[:6] params = [general_utils.num_to_str(p, include_sign=False, precision=3) for p in external_axes] target_data.extend(params) @@ -379,6 +381,7 @@ def _process_motion_command(command, opts): # Implement in base class! if command.external_axes is not None: external_axes = [axis if axis is not None else '9E9' for axis in command.external_axes] + external_axes = external_axes[:6] params = [general_utils.num_to_str(p, include_sign=False, precision=3) for p in external_axes] target_data.extend(params) diff --git a/mimic3/scripts/postproc/KUKA/EntertainTech/entertaintech.py b/mimic3/scripts/postproc/KUKA/EntertainTech/entertaintech.py index 03ea2a5..5c0f7d7 100644 --- a/mimic3/scripts/postproc/KUKA/EntertainTech/entertaintech.py +++ b/mimic3/scripts/postproc/KUKA/EntertainTech/entertaintech.py @@ -203,6 +203,7 @@ def _process_records_command(command, opts): if command.external_axes is not None: external_axes = [axis for axis in command.external_axes if axis is not None] + external_axes = external_axes[:6] formatted_params = [general_utils.num_to_str(axis, include_sign=True, padding=padding) for axis in external_axes] params.extend(formatted_params) diff --git a/mimic3/scripts/postproc/KUKA/KRL/krl.py b/mimic3/scripts/postproc/KUKA/KRL/krl.py index e20b7e6..2de1512 100644 --- a/mimic3/scripts/postproc/KUKA/KRL/krl.py +++ b/mimic3/scripts/postproc/KUKA/KRL/krl.py @@ -369,6 +369,7 @@ def _process_motion_command(command, opts): if command.external_axes is not None: motion_data_type = E6POS external_axes = [axis if axis is not None else 0 for axis in command.external_axes] + external_axes = external_axes[:6] motion_data.extend(external_axes) else: motion_data_type = POS @@ -389,6 +390,7 @@ def _process_motion_command(command, opts): if command.external_axes is not None: motion_data_type = E6AXIS external_axes = [axis if axis is not None else 0 for axis in command.external_axes] + external_axes = external_axes[:6] motion_data.extend(external_axes) else: motion_data_type = AXIS diff --git a/mimic3/scripts/postproc/Staubli/VAL3/val3.py b/mimic3/scripts/postproc/Staubli/VAL3/val3.py index 32ca594..d0fda41 100644 --- a/mimic3/scripts/postproc/Staubli/VAL3/val3.py +++ b/mimic3/scripts/postproc/Staubli/VAL3/val3.py @@ -367,6 +367,7 @@ def _process_motion_command(command, opts): if command.external_axes is not None: motion_data_type = E6POS external_axes = [axis if axis is not None else 0 for axis in command.external_axes] + external_axes = external_axes[:6] motion_data.extend(external_axes) else: motion_data_type = POS @@ -387,6 +388,7 @@ def _process_motion_command(command, opts): if command.external_axes is not None: motion_data_type = E6AXIS external_axes = [axis if axis is not None else 0 for axis in command.external_axes] + external_axes = external_axes[:6] motion_data.extend(external_axes) else: motion_data_type = AXIS diff --git a/mimic3/scripts/postproc/postproc.py b/mimic3/scripts/postproc/postproc.py index 014e056..e0f8129 100644 --- a/mimic3/scripts/postproc/postproc.py +++ b/mimic3/scripts/postproc/postproc.py @@ -40,6 +40,16 @@ __external_axis_4 = 'external_axis_4' __external_axis_5 = 'external_axis_5' __external_axis_6 = 'external_axis_6' +__external_axis_7 = 'external_axis_7' +__external_axis_8 = 'external_axis_8' +__external_axis_9 = 'external_axis_9' +__external_axis_10 = 'external_axis_10' +__external_axis_11 = 'external_axis_11' +__external_axis_12 = 'external_axis_12' +__external_axis_13 = 'external_axis_13' +__external_axis_14 = 'external_axis_14' +__external_axis_15 = 'external_axis_15' +__external_axis_16 = 'external_axis_16' __configuration_1 = 'configuration_1' __configuration_2 = 'configuration_2' __configuration_3 = 'configuration_3' @@ -88,6 +98,16 @@ __external_axis_4, # float __external_axis_5, # float __external_axis_6, # float + __external_axis_7, # float + __external_axis_8, # float + __external_axis_9, # float + __external_axis_10, # float + __external_axis_11, # float + __external_axis_12, # float + __external_axis_13, # float + __external_axis_14, # float + __external_axis_15, # float + __external_axis_16 # float ] )