Something seems off in the code for this widget. I've highlighted the two lines below and looked at the code briefly.
My setup is XYYZW. The code is placing "8:4" into the dict.
I believe that line 73 may be where the error is occurring:
Code:
self._jointNum = INFO.GET_JOINT_NUM_FROM_AXIS_INDEX.get(self.joint_number)
<QTvcp QTVCP QT_MAKEPINS><VERBOSE> HAL-ified widget: dro_axis_4 (logger py:38)
<QTvcp QTVCP WIDGETS WIDGET_BASECLASS><VERBOSE> HAL_init: ObjectName:'dro_axis_4'
SELF:<qtvcp widgets dro_widget DROLabel object at 0x7fe5f22b7490>
HAL NAME:dro_axis_4
PREFS:<qtvcp lib preferences Access object at 0x7fe6289fab90>
INSTANMCE:<qtvcp qt_makegui VCPWindow object at 0x7fe62abc0790> (logger py:38)
<QTvcp QTVCP WIDGETS DRO_WIDGET><DEBUG> axis number 4 not found in available-axis to joint conversion dict {0: 0, 1: 2, 2: 3, 8: 4} of widget: dro_axis_4 (dro_widget py:75)
<QTvcp QTVCP QT_MAKEPINS><VERBOSE> HAL-ified widget: dro_axis_3 (logger py:38)
<QTvcp QTVCP WIDGETS WIDGET_BASECLASS><VERBOSE> HAL_init: ObjectName:'dro_axis_3'
SELF:<qtvcp widgets dro_widget DROLabel object at 0x7fe5f22b7520>
HAL NAME:dro_axis_3
PREFS:<qtvcp lib preferences Access object at 0x7fe6289fab90>
INSTANMCE:<qtvcp qt_makegui VCPWindow object at 0x7fe62abc0790> (logger py:38)
<QTvcp QTVCP WIDGETS DRO_WIDGET><DEBUG> axis number 3 not found in available-axis to joint conversion dict {0: 0, 1: 2, 2: 3, 8: 4} of widget: dro_axis_3 (dro_widget py:75)
<QTvcp QTVCP QT_MAKEPINS><VERBOSE> HAL-ified widget: offsettoolbutton_2 (logger py:38)
<QTvcp QTVCP WIDGETS WIDGET_BASECLASS><VERBOSE> HAL_init: ObjectName:'offsettoolbutton_2'
SELF:<qtvcp widgets offset_tool_button OffsetToolButton object at 0x7fe5f22b79a0>
HAL NAME:offsettoolbutton_2
PREFS:<qtvcp lib preferences Access object at 0x7fe6289fab90>
INSTANMCE:<qtvcp qt_makegui VCPWindow object at 0x7fe62abc0790> (logger py:38)
I believe that the axis numbers are coming from the INI file which seems correct to me:
Here's what I have set:
<DISPLAY>
GEOMETRY = xyzw
<KINS> JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZW kinstype=BOTH
<TRAJ> COORDINATES = X Y Y Z W
<AXIS_X>
<JOINT_0>
<AXIS_Y>
<JOINT_1>
<JOINT_2>
<AXIS_Z>
<JOINT_3>
<AXIS_W>
<JOINT_4>
