Pybullet reset link state ???

[ymg1114]

Is there any way, I can reset the link state?
what I mean by here is,
when we have URDF model like the following

<contact>
  <restitution value="1.0e-8" />
  <lateral_friction value="1.0e+8"/>
  <rolling_friction value="1.0e+8"/>
  <!-- <spinning_friction value="1.0e+8"/> -->
  <contact_cfm value="0.00001"/>
  <contact_erp value="0.2"/>
</contact>

<inertial>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <mass value="100"/>
  <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>

<visual>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <box size="0.3 0.3 0.3"/>
  </geometry>
  <material name="tray_material">
    <color rgba="1 0 0 1"/>
  </material>
</visual>

<collision>
  <origin rpy="0 0 0" xyz="0 0 0"/>
  <geometry>
    <box size="0.3 0.3 0.3"/>
  </geometry>
</collision>

I think, we can change the model URDF link state
like
box size="0.3 0.3 0.3" to box size="0.5 0.5 0.5"

using some kind of pybullet function like "resetLinkState"

is there any way I can change the link info of each URDF model???
(what I really want to do is changing the size(H, W, D) of box object randomly in dynamic)