# Which files would I need to modify to replace the UR5 robot with my ABB IRB 120 robot?

**URL:** <https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299>\
**Category:** Support\
**Created:** [September 2, 2020, 2:21pm UTC](https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299 "2020-09-02T14:21:39Z")\
**Posts on this page:** 5\
**Page:** 1

<div class="post-metadata">

**Author:** ![CHRIS\_HUYNH](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/chris_huynh/32/6392_2.png) [@CHRIS\_HUYNH](https://discourse.slicer.org/u/CHRIS_HUYNH)\
**Post date:** [September 2, 2020, 2:21pm UTC](https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299/1 "2020-09-02T14:21:39Z")

</div>

Continuing the discussion from [Is there a way to integrate 3D slicer and ROS?](https://discourse.slicer.org/t/is-there-a-way-to-integrate-3d-slicer-and-ros/11266):,

Hi,

I’ve gone through Junichi Tokuda’s tutorial on how to integrate ROS and 3D slicer for planning purposes, but I now want to integrate my own robot model instead of using the model provided in the tutorials. Which ROS files/scripts (or 3D Slicer files/scripts) would I need to modify in order to fully replace the UR5 robot transformations with my own robot transformations? and is there a specific way I have to set up my Linear Transformations for my robot links in 3D slicer in order to get the 3D Slicer and ROS integration fully functional?

Thank you.

---

<div class="post-metadata">

**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:** [September 2, 2020, 3:18pm UTC](https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299/2 "2020-09-02T15:18:37Z")

</div>

You can download the ABB IRB 120 robot model with all transformations set up in Slicer from the link at the end of this post:

> [@How do I add robot arm STL into a scene?](https://discourse.slicer.org/t/how-do-i-add-robot-arm-stl-into-a-scene/11395/3):
>
> 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://www.youtube.com/watch?v=yS3SKqNztJU)

There is nothing specific to Slicer in this. You transform between different joint coordinate systems the same way as you do it for the robot’s path planning.

---

<div class="post-metadata">

**Author:** ![CHRIS\_HUYNH](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/chris_huynh/32/6392_2.png) [@CHRIS\_HUYNH](https://discourse.slicer.org/u/CHRIS_HUYNH)\
**Post date:** [September 2, 2020, 4:08pm UTC](https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299/3 "2020-09-02T16:08:41Z")

</div>

Hi Andras,

Thank you for your response. I’ve downloaded that scene but when I load it up, I dont see the model. I do see the list of imported STL’s in the “model module” however, I just dont see the actual robot in the scene itself.

Thanks

---

<div class="post-metadata">

**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:** [September 2, 2020, 4:18pm UTC](https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299/4 "2020-09-02T16:18:54Z")

</div>

I’ve just checked again and the .mrb file works well. Make sure you use a recent Slicer Preview Release.

![2020-09-02-12-14-56](https://us1.discourse-cdn.com/flex002/uploads/slicer/original/3X/f/d/fd34f1169bac6279d1bf03390ff865bcc3f98fbc.gif)

---

<div class="post-metadata">

**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:** [October 15, 2024, 11:37pm UTC](https://discourse.slicer.org/t/which-files-would-i-need-to-modify-to-replace-the-ur5-robot-with-my-abb-irb-120-robot/13299/5 "2024-10-15T23:37:51Z")

</div>

2 posts were merged into an existing topic: [How to use ROKAE robot with Python 3.8 library in Slicer?](https://discourse.slicer.org/t/how-to-use-rokae-robot-with-python-3-8-library-in-slicer/39606/2)