Hi @vmakoviychuk, thanks for your quick reply. I am using the franka_panda.udrf provided in the Isaac gym package. For example, I scaled the meshes and the link length by 20 as shown below. In this URDF file, I didn’t find any mass or inertia tensor tag to scale. Where should I scale the masses and inertia tensors btw? Also, I don’t want to scale the gravity just the robot itself since I also include other objects in the env. Is it possible to do so?
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://franka_description/meshes/visual/link1.dae" scale="20 20 20"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://franka_description/meshes/collision/link1.obj" scale="20 20 20"/>
</geometry>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 6.66"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<dynamics damping="200.0"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
</joint>