Set manipulator/tool transform

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Set manipulator/tool transform

i have little problem with calibration gripper - robot.
I have computed data (from calibration between grasped object and 3D sensor). From this data I calculated transform from gripper origin to A6 origin (kuka end effector).

Now i need to apply this transformation to manipulator in OpenRave. But manip.SetToolLocalTransform does not work. Is there another way ? In xml ? But I don't know how to write it properly (where and in what order)