RobotModelArtist.update_tool(tool, joint_state=None, visual=True, collision=True, transformation=None)[source]

Triggers the update of the robot geometry of the tool.

  • joint_state (Configuration | dict[str, float], optional) – A dictionary with joint names as keys and joint positions as values. Defaults to an empty dictionary.

  • transformation (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) – If True, the visual geometry will also be updated.

  • collision (bool, optional) – If True, the collision geometry will also be updated.