For information on the latest version, please have a look at 1.33.5.
get_tool_shape (Auto Mode)
This section explains how to use get_tool_shape during Auto (Run) operations to retrieve the currently active tool shape used for monitoring, simulation, and motion planning.
This function returns the symbol name of the tool shape associated with the active tool.
Typical usage
Validate correct tool geometry before running an Auto mode sequence.
Debug unexpected collision monitoring behavior.
Log shape information for process traceability.
Confirm which geometry is applied after switching tools.
Note
Use after activating a tool via
set_tool.Useful for verifying configuration when multiple tool shapes exist.
Example: Reading the Active Tool Shape
string shape = drfl.get_tool_shape();
printf("Active Tool Shape: %s\n", shape.c_str());
In this example, the active tool shape is retrieved and printed for verification before automated movements.
Tips
Use before Auto mode motion when multiple tool shapes may be applied.
Compare returned values with expected geometry when debugging safety zones.
Combine with
get_tcp()for complete end-effector configuration checks.