This assumes like a xtensa-esp32-none-objcopy as $OBJCOPY, not esptool.py. You have to give esptool.py the proper commands for it to generate a hex, as their documentation says.
Now i did some research and i try to export the bin because this is the mks robin nano and the file is Robin_nano35.bin
All ok but now i still learnin how to use stm32cubMX for mapping the pin (for this board) and if anyone have already the experience on that the help will be appreciate.