如何在pybullet环境中调整对象的大小？

import pybullet as p
import pybullet_data

physicsClient = p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.setGravity(0, 0, -9.8)

planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0, 0, 1]
cubeStartOrientation = p.getQuaternionFromEuler([0, 0, 0])
boxId = p.loadURDF("object.urdf", cubeStartPos, cubeStartOrientation)

scaling_factor = 2.0  # 调整大小的比例因子
current_scaling = p.getVisualShapeData(boxId)[0][3]  # 获取当前对象的缩放因子
new_scaling = [scaling_factor * current_scaling[0], scaling_factor * current_scaling[1], scaling_factor * current_scaling[2]]
p.changeVisualShape(boxId, -1, rgbaColor=[1, 0, 0, 1], visualShapeData=new_scaling)

p.disconnect()