# Configurating Robot arm (Panda - Franka Emika) In slicer

**URL:** <https://discourse.slicer.org/t/configurating-robot-arm-panda-franka-emika-in-slicer/12397>\
**Category:** Support\
**Created:** [July 6, 2020, 2:58pm UTC](https://discourse.slicer.org/t/configurating-robot-arm-panda-franka-emika-in-slicer/12397 "2020-07-06T14:58:43Z")\
**Posts on this page:** 1\
**Showing post:** 2

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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:** [July 6, 2020, 6:08pm UTC](https://discourse.slicer.org/t/configurating-robot-arm-panda-franka-emika-in-slicer/12397/2 "2020-07-06T18:08:18Z")

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All of what you mentioned is possible and it is your decision how you want things to work. What would you send to Slicer from ROS?

- OpenIGTLink transform containing absolute position+orientation of each part of the robot arm (in Slicer there is no need for creating any transform tree, just apply the transform directly to the model nodes)
- OpenIGTLink transform containing relative translation+rotation between joints (in Slicer you need to arrange the received transforms in a tree by drag-and-drop in the transform hierarchy)
- OpenIGTLink transform containing relative rotation between joints (in Slicer you need to arrange the received transforms in a tree and add relative translations between them)
- OpenIGTLink ndarray containing joint angles (in Slicer you need to add a small python script that computes relative transforms from the joint angles)

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