Hello !

I'm actually working on a Gazebo project but i can't fine an answer at my question : Is it possible to enable/disable a plugin in Python when you are executing a script ?

I created a simple script to "pick and place" object in Gazebo but the object always slide out from the gripper. So, I used a plugin which fixed that problem by attaching the origin from gripper to the object when they are in collisions during few seconds. This is the link of the plugin : https://github.com/jenniferBuehler/gazebo-pkgs/wiki/The-Gazebo-grasp-fix-plugin Now i want to add a push function to my script but when you are pushing, Gazebo will attach object to the gripper. I would like to know if it's possible to enable/disable this plugin (by a service or whatever) during execution to fix that issue.

I'm working with an UR5 and a gripper85 and I got melodic version of Ubuntu.

Any help will be appreciated and thank in advance. Jordan