Hi Mr Lasso,
I’ve done what you recommended and it works. Also thank you for the upload of the irb120.mrml file. I do however want to try it out for myself to develop a better understanding of the transforms, how to set up my robotic arm and how to fix any issues that I encounter.
The model of each link of the IRB 120 robotic arm has imported into 3D slicer, but the joints are not connected. Is there a tutorial or guide that illustrates how to get these joints connected and how to have the transforms set up properly in a hierachy of transforms for each joint?