# 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:** 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:** [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")

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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.

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