# Can the robot be shown as its actual physical size？

**URL:** <https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558>\
**Category:** Development\
**Tags:** robotics\
**Created:** [October 5, 2022, 12:40pm UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558 "2022-10-05T12:40:04Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![xiaosnowqiang](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/xiaosnowqiang/32/16426_2.png) [@xiaosnowqiang](https://discourse.slicer.org/u/xiaosnowqiang)\
**Post date:** [October 5, 2022, 12:40pm UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558/1 "2022-10-05T12:40:05Z")

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Hello guys ，today I try to configuration my own robot in slicer with transforms module. And the configuration has finished and I can simulate rotation around each joint by receive the transform from MATLAB code. The below GIF can see the result of my simulate.  
 ![GIF67](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/b/d/bdf12183a5928baff42a38275c0049ebf280440d.gif)  
But the big problem is each part link of STL files uses m as coordinate system units which is not the Slicer units mm[I don’t know how to change the robot unit becuase the robot stl files download from the flexiv robotic company website]. When I load a MRI image to slicer and use the Volume Rendering module，because the robot is too tiny size the MRI model direct covered the robot.  
 ![I6VQNL@FVL3IC1@1B~1UT$S](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/c/9/c956acc2465f8bcfed5069bc5d12aae758cd89d8.jpeg)  
So i just wonder if the 3D slicer can rescale the robot size to the actual physical size without change the configuration.  
Hope someone can help me with this,  
Best,  
-jian

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**Author:** ![muratmaga](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/muratmaga/32/3622_2.png) [@muratmaga](https://discourse.slicer.org/u/muratmaga)\
**Post date:** [October 5, 2022, 9:32pm UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558/2 "2022-10-05T21:32:40Z")

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> [@xiaosnowqiang](#):
>
> link of STL files uses m as coordinate system units

If you are certain, simply create a linear transform with first three diagonal elements set to 1000 1000 1000 (mm to meters scaling), and put your robot model under that transform.

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**Author:** ![xiaosnowqiang](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/xiaosnowqiang/32/16426_2.png) [@xiaosnowqiang](https://discourse.slicer.org/u/xiaosnowqiang)\
**Post date:** [October 6, 2022, 2:04am UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558/3 "2022-10-06T02:04:19Z")

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Thank you for your kindness reply, and I’m a novice and didn’t understand this usage before. It’s great. It solves my problem.

 ![图片](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/4/3/439b6c5e08c72a789698760e9bfd26b2bde6b009.png)  
 ![图片](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/a/f/afb90999a3d6ea05c2f1786e9dd641a3d9bb62e1.png)

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**Author:** ![slicer365](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/slicer365/32/67549_2.png) [@slicer365](https://discourse.slicer.org/u/slicer365)\
**Post date:** [June 26, 2023, 12:14am UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558/4 "2023-06-26T00:14:25Z")

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Can you share the robot model?

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**Author:** ![lassoan](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/lassoan/32/13_2.png) [@lassoan](https://discourse.slicer.org/u/lassoan)\
**Post date:** [June 26, 2023, 3:05pm UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558/5 "2023-06-26T15:05:45Z")

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Note that there is a new extension - SlicerROS2 - that automatically retrieves the robot model from ROS2 and displays it in real-time in Slicer. See more information [here](https://projectweek.na-mic.org/PW39_2023_Montreal/Projects/Slicerros2/).

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**Author:** ![xiaosnowqiang](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/xiaosnowqiang/32/16426_2.png) [@xiaosnowqiang](https://discourse.slicer.org/u/xiaosnowqiang)\
**Post date:** [June 30, 2023, 10:43am UTC](https://discourse.slicer.org/t/can-the-robot-be-shown-as-its-actual-physical-size/25558/6 "2023-06-30T10:43:45Z")

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Hello, sorry for this delay reply.The robot model from this link: [xiaosnowqiang/flexiv\_ros2: ROS2 integration of RDK for Flexiv robots. (github.com)](https://github.com/xiaosnowqiang/flexiv_ros2)