# How do I add robot arm STL into a scene?

**URL:** <https://discourse.slicer.org/t/how-do-i-add-robot-arm-stl-into-a-scene/11395>\
**Category:** Support\
**Created:** [May 4, 2020, 8:58am UTC](https://discourse.slicer.org/t/how-do-i-add-robot-arm-stl-into-a-scene/11395 "2020-05-04T08:58:24Z")\
**Posts on this page:** 1\
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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:** [May 4, 2020, 6:41pm UTC](https://discourse.slicer.org/t/how-do-i-add-robot-arm-stl-into-a-scene/11395/3 "2020-05-04T18:41:31Z")

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Also make sure the STL uses mm as coordinate system units (or scale it using a transforms module).

Note that you can also animate the robot (simulate rotation around each joint) if you load each section of the robot as a separate model, with the rotation joint in the origin. You just need to create a hierarchy of transforms in Transforms module and add each model at the appropriate level in the transform tree.

I’ve uploaded a short video of ABB IRB 120 robot visualization in Slicer:

[![](https://img.youtube.com/vi/yS3SKqNztJU/hqdefault.jpg "Medical robot visualization using 3D Slicer") ](https://www.youtube.com/watch?v=yS3SKqNztJU)

You can download the Slicer scene from [here](https://1drv.ms/u/s!Arm_AFxB9yqHu5J0yW1ck3H1-A_Xxg?e=QfbPPd).

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