set_tool_shape (Auto Mode)

This section explains how to use set_tool_shape during Auto (Run) operations or system setup to define the geometric shape of the tool attached to the robot.

Tool shape information is used by the controller for collision checks, workspace monitoring, simulation alignment, and improved motion planning.

Typical usage

  • Register the tool’s 3D profile for workspace/layered safety monitoring.

  • Improve collision avoidance accuracy in complex environments.

  • Match virtual tool geometry in simulators (DART Platform, OEM software).

  • Update geometry when changing gripper fingers or tool attachments.

Note

  • TOOL_SHAPE data typically includes size, dimensions, and shape type.

  • Shape definition must correspond to the active tool set via set_tool.

  • Updating shape during motion is not recommended; apply at safe poses.

Example: Setting the Shape for a Parallel Gripper

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    TOOL_SHAPE shape;
    shape.eShape = TOOL_SHAPE_TYPE_BOX;
    shape.fSize[0] = 60.f;   // X (mm)
    shape.fSize[1] = 40.f;   // Y (mm)
    shape.fSize[2] = 120.f;  // Z (mm)

    // Apply the shape to the active tool
    if (!drfl.set_tool_shape(shape)) {
        printf("Failed to set tool shape.\n");
        return -1;
    }

    printf("Tool shape updated successfully.\n");
    return 0;
}

In this example, a box-type tool shape is defined and applied to improve workspace monitoring accuracy in Auto Mode operations.