How to add .stl file to a robot?

Hi! I would like to add an .stl file to a robot link created with the robotic toolbox. I checked the Visuals field of the body and the model has been loaded properly, but when I use show(robot) nothing happens. How can I fix it?

%body1

body1 = rigidBody('body1');

addVisual(body1, "Mesh", 'IRB 910SC_IRC5C_Arm1_450_rev0.STL');

[Karsh Tharyani]

Thanks for your question. Can you clarify the output from body1.Visuals? You can use the below from the MATLAB command line

>> body1.Visuals

[Valeria Leto]

Hi! I thought it was a mesh problem. I can't loas my stl file at the moment, don't know why. I took it from ABB site.

[Valeria Leto]

the output to body1.Visuals is 1x1 cell array

Answer 1

[Yiping Liu]

Valeria,

It might be a scaling issue, i.e. the dimension of the meshes is too small to be seen when rendered.

If you importrobot from URDF, and if the URDF file specifies the scaling for the mesh, the scaling of the mesh will be handled automatically. But if you do it from addVisual, you have to do the scaling on the mesh file yourself, which is not that straighforward.

But that's just a guess, please share your mesh file and the robot description, so we can take a closer look.