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

interactiveRigidBodyTree(r); hold all;
drawFloor;


% -----------------------------------------------------------------------------
function drawFloor()
  ax = gca;
  ax.CameraViewAngle = 5;
  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]);
end
