RobotModelArtist.update_tool

RobotModelArtist.update_tool(joint_state=None, visual=True, collision=True, transformation=None)

Triggers the update of the robot geometry of the tool.

Parameters

  • joint_state (dict, optional) – A dictionary with joint names as keys and joint positions as values. Defaults to an empty dictionary.

  • transformation (compas.geometry.Transformation, optional) – The (absolute) transformation to apply to the entire tool’s geometry. If None is given, no additional transformation will be applied. Defaults to None.

  • visual (bool, optional) – True if the visual geometry should be also updated, otherwise False. Defaults to True.

  • collision (bool, optional) – True if the collision geometry should be also updated, otherwise False. Defaults to True.