PnsStarter
Thank you so much for your valuable answer. My task is to do research about concrete 3d printing and not about programming the robot. This converter from G-CODE to TP_program is just for the help that I am doing. that is why I have no idea about it.
But such program that could convert g-code directly to TP program would help us perform the tedious tasks faster.
I will check the suggestions and links that you have provided. can you please let me know the slicer application that can help?
Thank you