Change a collision's perceptibility during runtime

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Hi guys,

i am trying to create a possibility to change wether an object is detected by a sensor (such as a ray sensor) or not. Therefore, Is it possible to change the pose of a collision element of a model during runtime? So i could move the collision of the model outside of a sensor's scope without moving its visual representation?

Is there a similar way such as using visual::msgs from an embedded model plugin? Or is it possible to set the collide bitmask of an existing collision element during runtime?

Best regards!