Breadcrumbs

get_tool_shape_list()

Features

Returns all currently registered tool shape information for the current safety setting parameter.

Return

Value

Data Types

Description

ret

class.config_tool_shape_list

Information about all registered tools shape

Class

class.config_tool_shape_list

Field

Data Types

Description

obj

list

Object information for that class

count

int

Number of registered tools

tool_shape_list

class.config_tool_shape_symbol[50]

Registered tool shape information (up to 50)
class.config_tool_shape_symbol

Field

Data Types

Description

obj

list

Object information for that class

symbol

string

Tool name

tool_shape

class.config_shape_tool

Tool details
class.config_tool_shape

Field

Data Types

Description

obj

list

Object information for that class

validity

int[5]

Validate (0, 1)

shape

class.safety_object[5]

tool shape, shape information
class.safety_object

Field

Data Types

Description

obj

list

Object information for that class

target_ref

int

Unused variable

object_type

int

Tool shape type

0: Sphere

1: Capsule

2: Cuboid

object

class.safety_object_data

Tool shape type details

0: class.safety_object_sphere

1: class.safety_object_capsule

2: class.safety_object_cuboid

Note

The previous name 'cube' is changed into 'cuboid'.

Can use either 'cube' or 'cuboid' based on the current version of the manual but usage of 'cube' will be deprecated. 'cube' is not recommended

class.safety_object_sphere

Field

Data Types

Description

obj

list

Object information for that class

radius

float

radius

target_pos

class.point_3d

Tool point

* Elements the class.point_3d

- X point (float)

- Y point (float)

- Z point (float)
class.safety_object_capsule

Field

Data Types

Description

obj

list

Object information for this class

radius

float

Radius

target_pos

class.point_3d[2]

Tool point

* Elements the class.point_3d

- X point (float)

- Y point (float)

- Z point (float)
class.safety_object_cuboid

Field

Data Types

Description

obj

list

Object information for that class

target_pos

class.point_3d[2]

Tool point

* Elements the class.point_3d

- X point (float)

- Y point (float)

- Z point (float)

Example

Python
tools = get_tool_shape_list()

tp_log("---------------- example start -------------------")
tp_log("tool count: {}".format( tools.count))

for i in range( tools.count ): # loop for tool count

	tool = tools.tool_shape_list[i]

	name = tool.symbol # get tool name
	validity = tool.tool_shape.validity # get tool validity
	indices = [i for i, x in enumerate(validity) if x] # make list of activated part indexs

	tp_log("------------------------------------------------")
	tp_log("tool{:d} name: {} validity: {}".format(i, name, validity))
	for n in indices:
		tp_log("> tool{:d} part{} datas".format(i, n))
		tool_shape = tool.tool_shape.shape[n]

		obj_type = tool_shape.object_type # get tool object type

		if obj_type == 0: # obj type is Sphere
			r = tool_shape.object.sphere.radius
			target_pos = tool_shape.object.sphere.target_pos

			target_pos = [ target_pos.x, target_pos.y, target_pos.z]
			tp_log("type: sphere | radious: {:.2f} pos: {}".format(r, target_pos))

		elif obj_type == 1: # obj type is Capsule
			r = tool_shape.object.capsule.radius
			target_pos = tool_shape.object.capsule.target_pos

			target_pos = [[ target_pos[j].x, target_pos[j].y, target_pos[j].z] for j in range(2)]
			tp_log("type: capsule | radious: {:.2f} pos: {}".format(r, target_pos))

		elif obj_type == 2: # obj type is Cuboid
			# the previous name 'cube' is changed into 'cuboid' 
			# can use either 'cube' or 'cuboid' based on the current version of the manual but usage of 'cube' will be deprecated. 'cube' is not recommended
			target_pos = tool_shape.object.cuboid.target_pos

			target_pos = [[ target_pos[j].x, target_pos[j].y, target_pos[j].z] for j in range(2)]
			tp_log("type: cuboid | pos: {}".format(target_pos))

tp_log("---------------- example end ---------------------")