OIGE changing RigidPrimView scales after every reset

For my RL aplication, I have an environment setup that initially generates 5 parcels as DynamicCuboids, clones them to the specified amount of environments, and finally wraps them around their respective RigidPrimView. Every time I reset the environment I want to move those cuboids to their original positions and change their dimensions.

As explained in Error using set_local_scales with RigidPrimViews I have not managed to use the RigidPrimView set_local_scales() method to change the dimensions of the cuboids for every reset.

Moreover, I saw that in the OmniIsaacGymEnvs/docs/domain_randomization.md official GitHub documentation, it says that the scale parameter of RigidPrimViews can only be modified on startup.

Does this mean that what I am trying to do is not possible? Is there any workaround or alterntiave I could use?

I am using IsaacSim 2022.2.1