[Question] how to change articulated object's scale?

[youngcv]

Hi, i am wondering if there is any api to modify articulated object's scale or alternative ways to do that. Since the articulated object's joint range needs to be modified too(for prismatic joint).

[PeterL-NV]

There is currently no direct Isaac Sim or Isaac Lab API to modify the scale of an articulated object (such as a robot or a part) after it has been loaded into the simulation, especially if you're dealing with fully constructed USD assets with prismatic joints.

You may apply scaling to non-root articulation links using the USD API, specifically xformOp:scale operations, but this will not automatically adjust all associated joint properties. If you use this method, you need to also manually update the prismatic joint's limits to compensate for the new effective range, as the physical constraints are not scaled automatically.

Preferably, scale your mesh or asset in your 3D modeling tool (e.g., Blender, Maya) before importing to Isaac Sim. This allows all necessary transforms, limits, and physical parameters to be set consistently.