BaseRobotModelObject.update_tool

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

Triggers the update of the robot geometry of the tool.

Parameters:

joint_stateConfiguration | dict[str, float], optional

A dictionary with joint names as keys and joint positions as values. Defaults to an empty dictionary.

transformationTransformation, 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.

visualbool, optional

If True, the visual geometry will also be updated.

collisionbool, optional

If True, the collision geometry will also be updated.

Returns:

None