How to add objects dynamically in CollisionSet?

Hej hej

My station has a Conveyor that is feeding parts...

In the begin of the cycle, no part exist... The parts are "created" automatically by conveyor

Each cycle the robot will pick the part from conveyor and will place the part to the pallete.

There is a machine between the pallet and the conveyor.

I need to check the collisions during the cycle.

My station has just one CollisionSet created.

In the Objects A, there is the machine's geometry.

In the Objects B, I would like to add the parts that the robot will pick and place.

Do you know how to add dynamically new parts in the Objects B ?

THANKS !!! MARCUS DANIEL