diff --git a/src/roboticstoolbox/robot/Link.py b/src/roboticstoolbox/robot/Link.py
index acb08043..ccae7b6b 100644
--- a/src/roboticstoolbox/robot/Link.py
+++ b/src/roboticstoolbox/robot/Link.py
@@ -1101,8 +1101,8 @@ def closest_point(
 
         if not skip:
             self.robot._update_link_tf(self.robot.q)  # type: ignore
-            self._propogate_scene_tree()
-            shape._propogate_scene_tree()
+            self.update()
+            shape.update()
 
         d = 10000
         p1 = None
@@ -1134,8 +1134,8 @@ def iscollided(self, shape: Shape, skip: bool = False) -> bool:
 
         if not skip:
             self.robot._update_link_tf(self.robot.q)  # type: ignore
-            self._propogate_scene_tree()
-            shape._propogate_scene_tree()
+            self.update()
+            shape.update()
 
         for col in self.collision:
             if col.iscollided(shape):
diff --git a/src/roboticstoolbox/robot/Robot.py b/src/roboticstoolbox/robot/Robot.py
index 4d706b6e..ac42061c 100644
--- a/src/roboticstoolbox/robot/Robot.py
+++ b/src/roboticstoolbox/robot/Robot.py
@@ -1289,8 +1289,8 @@ def closest_point(
 
         if not skip:
             self._update_link_tf(q)
-            self._propogate_scene_tree()
-            shape._propogate_scene_tree()
+            self.update()
+            shape.update()
 
         d = 10000
         p1 = None
@@ -1324,8 +1324,8 @@ def iscollided(self, q, shape: Shape, skip: bool = False) -> bool:
 
         if not skip:
             self._update_link_tf(q)
-            self._propogate_scene_tree()
-            shape._propogate_scene_tree()
+            self.update()
+            shape.update()
 
         for link in self.links:
             if link.iscollided(shape, skip=True):