...
In addition to Static Scene Model command SetObjectState, there are Dynamic Scene Model (DSM) commands that allow a user to add obstacles at runtime. A user may need DSM feature if the size or location of the obstacles is unknown offline, and therefore cannot be modeled. A user may also use the DSM object if the number of obstacle variations is unrealistic to model (e.g. in palletizing there may be thousands of obstacle sizes and possible object states).
...