How to dynamically update mass/center of mass/inertia during Gazebo sim

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Hi,

Components in the URDF files can be assigned static mass, center of mass, and inertial matrix.

Is there a way to update those values dynamically once the Gazebo simulation environment has started up?

For example, say I had a fuel tank on a robot and I wanted to decrease the weight and center of mass of the tank as a function of engine power output over time. Or maybe I have a robot expelling a liquid from a holding tank or sucking up a liquid into a holding tank.

I can't seem to find a solution to this in the ROS docs.

Thank you, Randy