Changing properties of bodies during simulation?

[EAGrimaldi]

Is there a supported way to change the properties of a body mid simulation?

I'm interested in either:

A) changing the scale of a body during simulation (I believe this is impossible...)

B) toggling the visibility of a body during simulation (I suspect this is possible, but can't quite tell)

From the quick start guide, it seems that body properties are meant to be static once they are loaded in to a simulation, but I am not certain if I am misreading.

For context: the main reason I wish to change properties mid simulation is for visibility purposes during a render of a simulation.

I need the camera to be able to zoom out to such a degree that it can observe a scene ranging from 100m to 16km in width. The robots in the simulation are approx 15m wide. This creates a visibility issue as the robots become infinitesimally small as the camera zooms out - I hope to overcome this by adding a weightless body as a "marker" for when the camera is zoomed out to such a degree that the true body of the robot is too small to see in the render.