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Hi,

Scale tag is working in URDF meshes since May 21, version 1.3.1-1. Please check if you have an older version because it should be working. As an example:

<mesh filename="robot/ARM5E/ARM5E_part0.osg" scale="3 3 3"/>

About xacro, URDF can be generated through xacro, but UWSim does not allow xacro input yet, it's still in TO-DO list.

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