get_tool_shape_list()
Features
Returns all currently registered tool shape information for the current safety setting parameter.
Parameters
None
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 |
weight | float | Tool Mass |
shape | class.safety_object | Center of gravity information |
class.safety_object | ||
| Field | Data Types | Description |
|---|---|---|
| obj | list | Object information for that class |
| target_ref | int | Target coordinates |
| object_type | int | Tool shape type 0: Sphere 1: Capsule 2: Cube 3: Oriented Box 4: Polygon-Prism |
| object | class.safety_object_data | Tool shape type details 0: class.safety_object_sphere 1: class.safety_object_capsule 2: class.safety_object_cube 3: class.safety_object_obb 4: class.safety_object_polyprism |
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_cube | ||
| 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) |
| class.safety_object_obb | ||
| Field | Data Types | Description |
|---|---|---|
| obj | list | Object information for that class |
| target_pos | class.point_3d[4] | Tool point * Elements the class.point_3d - X point (float) - Y point (float) - Z point (float) |
| class.safety_object_polyprism | ||
| Field | Data Types | Description |
|---|---|---|
| obj | list | Object information for that class |
| point_count | int | The number of stored points |
| point | class.point_2d[10] | X, Y plane points * Elements the class.point_2d - X point (float) - Y point (float) |
| zlolimit | float | Z axis lower limit |
| zuplimit | float | Z axis upper limit |
Example
ret = get_tool_list()
for i in range(0, ret.count):
print(ret.tool_list[i].symbol)
print(ret.tool_list[i].tool.weight)Related Commands
- None