r = loadrobot('abbIrb120','DataFormat','column');

pose = zeros(1,6)';
figure('Position',[0 0 560 420]);
  ax = show(r,pose, ...
           'Visuals','on', ...
           'PreservePlot',0, ...
           'Fastupdate',1); hold all;
  ax.CameraViewAngle = 4;
  p = patch([1 -1 -1 1].*0.5, [1 1 -1 -1]*0.5, [0 0 0 0]);
  p.FaceColor = [0.8, 0.8, 0.8];
  axis off;
  xlim([-0.75,0.75]);
  ylim([-0.75,0.75]);
  zlim([0,1]);
