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

[lassoan (Andras Lasso)]

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?

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: […

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.