Scale problem when importing an .stl file with addVisual for adding a mesh corresponding to a rigidBody

kin = loadrobot('kinovaJacoJ2S6S300');
removeBody(kin,'j2s6s300_link_finger_1');
removeBody(kin,'j2s6s300_link_finger_2');
removeBody(kin,'j2s6s300_link_finger_3');

dhparams = [0   	pi/2	0.290   0];
bodyTest= rigidBody('bodyTest');
jointTest= rigidBodyJoint('jointTest','revolute');
setFixedTransform(jointTest,dhparams(1,:),'dh');
bodyTest.Joint=jointTest;
addVisual(bodyTest,"Mesh",'arm.stl');
addBody(kin,bodyTest,'j2s6s300_end_effector');

show(kin)

I imported a robot from an existing library, removed some bodies and then I added a new rigidBody (bodyTest) to the rigidBodyTree (kin), all of this worked fine. But I also want to add a visual for this bodyTest in the form of arm.stl. The addVisual function works but there's a units problem, Matlab reads the [mm] values of the stl file as [m] values.

I looked at multiple topics on this problem but none of them offered a real answer for me. I can't use another stl file reader besides addVisual as it is the only function (I think) that specifies the stl file as being the geometrical representation of a rigidBody object.

Thanks in advance.

[Christopher Bitikofer]

Just an fyi you can scale stl meshes using the transform argument in the add visual command. It's a bit sneaky since you need to recall that you can use matricies to rotate, translate and scale.

tForm = [eye(3).*0.001,[0 0 0]';[0 0 0 1]]; % scale units of stl from mm to m

addVisual(rb1,"Mesh","mymesh.STL",tForm)

Answer 1

[Johan Poccard]

My problem was kind of solved but outside of Matlab so it makes it work but others could still have the same problem.

From my CAD software Inventor, I was able to generate the stl files of my piece my choosing a meter unit which solves the issue.