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Hi @AndreiHaidu, I create a plugin that modifies the properties at runtime. I don't know if is the best approach but I think that will help you.

plugin.h

plugin.cpp

Test.world

After compile you and run the gazebo world you should see a box that will be pushed from left to right by a small speed. There is some friction between box and ground plane, so the box starts to inclinate. About five seconds before the simulation is started, the mu (friction) coefficients are changed by plugin (decreasing) and the box will slip. Five seconds later the mu coefficients are changed by plugin (increasing) and the box starts to inclinate again, and so on...

I hope that it helps you.