When importing a URDF model into a Simscape™ Multibody™ model, how do I set the geometry scale attribute to 0.1?

In the Import URDF Models entry of the help document, I can see that I can set the scale attribute to 0.01 or 0.001 by setting the unit to cm or mm. But how do I set the scale attribute to 0.1?

[Rajeev]

Have you tried changing the scale in this manner?

% Import the URDF model

robot = importrobot('my_robot.urdf');

% Set the geometry scale attribute to 0.1

robot.Data.Geometry.Scale = 0.1;

[Jingchao Li]

Thank you for your answer! However, I want to use the ‘smimport’ command to import a URDF into a Simscape™ Multibody™ model instead of a rigid body tree model. How to set the scale to 0.1 in this case?

[Rajeev]

Can you try this?:

smimport('your_model.urdf', 'Scale', 0.1, 'Unit', 'm');

[Jingchao Li]

I tried this command but got an error.

Answer 1

[Tamir Suliman]

This will import the model 'mymodel.urdf' and scale it by a factor of 0.1 using the decimeter unit.

robot = importrobot('mymodel.urdf', 'Scale', 0.1, 'Unit', 'dm');

To set the scale attribute to 0.1, you can set the unit to "dm" which stands for decimeter. Decimeter is a metric unit of length that is equal to one-tenth of a meter, so setting the unit to "dm" would correspond to a scaling factor of 0.1.

[Jingchao Li]

Thank you for your answer! However, I want to use the ‘smimport’ command to import a URDF into a Simscape™ Multibody™ model instead of a rigid body tree model. How to set the scale to 0.1 in this case?