get_current_tool_shape()

Features

Returns the currently set tool geometry information among the current safety setup parameters.

None

Value	Data Types	Description
ret	class.config_tool_shape	Tool Geometry Settings Information

Field
class.config_tool_shape
obj	list	Object information for this class
validity	int[5]	Validate(0, 1)
shape	class.safety_object[5]	Detailed geometry information

Field
class.safety_object
obj	list	Object information for this class
target_ref	int	Target Coordinate System
object_type	int	Safety Object Types 0: Sphere 1: capsule 2: Square column
object	class.safety_object_data	About each solid shape

Information

The safety_object_data class is a class organized as a union union in C++ and returns a different class depending on the object_type.

object_type	Field	Data Types	Description
class.safety_object_data
-	obj	list	Object information for this class
0	sphere	class.safety_object_sphere	sphere-shaped objects
1	capsule	class.safety_object_capsule	Capsule-Shaped Objects
2	cube	class.safety_object_cube	Rectangle Shape Objects

Field	Data Types	Description
class.safety_object_sphere
obj	list	Object information for this class
radius	float	Radius
target_pos	class.point_3d	3D point information (x, y, z)

Field	Data Types	Description
class.point_3d
obj	list	Object information for this class
x	float	x-axis
y	float	y-axis
z	float	z-axis

Field	Data Types	Description
class.safety_object_capsule
obj	list	Object information for this class
radius	float	Radius
target_pos	clsas.point_3d[2]	3D point information (x, y, z)

Field	Data Types	Description
class.safety_object_cube
obj	list	Object information for this class
target_pos	clsas.point_3d[2]	3D point information (x, y, z)

Field	Data Types	Description
class.point_2d
obj	list	Object information for this class
x	float	x-axis
y	float	y-axis

PY

ret = get_current_tool_shape()