I have a fixed SDFormat file, containing one link and representing a rigid body. How can I programmatically scale the resulting RigidBody? I'd prefer to be able to do this after plant finalization but doing this during the plant construction phase would already be helpful.
For a feature request, I'd ask for a RigidTransform but for scale. Is there something similar already in Drake?
Currently, there's no mechanism for scaling rigid bodies. When assigning geoemtries to them, you can scale the geometries w.r.t. contact extent or visual appearance.
But to scale the rigid body, you'd have to handle the mass properties appropriately.
Submitting a feature request and using that as a place to discuss would be a good idea.