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In the c++ api of gazebo, there is a SetScale function for the "Link" class. I suppose that it should do what you want. (the solution mentionned by @chapulina may be a good way to do it if the SetScale method doesn't work as you want)

http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Link.html#a275d552d716464ca0e98ef898f74aaf9

In the c++ api of gazebo, there is a SetScale function method for the "Link" class. I suppose that it should do what you want. (the solution mentionned by @chapulina may be a good way to do it if the SetScale method doesn't work as you want)

And there is a SetRelativePose method to change the pose of the link.

http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1Link.html#a275d552d716464ca0e98ef898f74aaf9