# How can I add a link programmatically to a model?

Hello everyone,

I want to add and delete a link dynamically to/from my model. This link should be a polyline and the coordinates of the vertices will change with runtime. How can I get this link dynamically added to my model by a model plugin? I can add the link tag (below) to my model but can I change this dynamically? Thanks for any help.

   <link>
<inertial>
<pose>0 0 0 0 0 0 </pose>
<mass>0.00000000000001</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='col''>
<pose> 0 0 0 0 0 0 </pose>
<geometry>
<polyline>
<point> 1 1 </point>
<point> 1 -1 </point>
<point> -1 -1 </point>
<point> -1 1 </point>
<height>0</height>
</polyline>
</geometry>
</collision>
<visual name='vis'>
<pose> 0 0 0 0 0 0 </pose>
<geometry>
<polyline>
<point> 1 1 </point>
<point> 1 -1 </point>
<point> -1 -1 </point>
<point> -1 1 </point>
<height>0</height>
</polyline>
</geometry>
</visual>