Hello everyone,

I am very desperate right now. I have tried many ways to change a collision of my model with runtime. My model's collision tag is defined as a polyline and I want to change its points with runtime (event-based). Is there a way to change the model's collision tag with runtime?

If this might not be possible in gazebo is there at least a possibility to change a complete link of my model (e.g adding or deleting a link to/from my model) with runtime?

I would prefer doing this with a model plugin, or also with a world plugin.

Does anyone know a way to achieve this?

Thanks you.

Greetings!