allow up to 16 external axes from the hardcoded limit of 6

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,

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

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)
 

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)

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)

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

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

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
     ]
 )