diff --git a/MachMgr.h b/MachMgr.h
index e3a1c0c..bdee15b 100644
--- a/MachMgr.h
+++ b/MachMgr.h
@@ -488,11 +488,15 @@ class MachMgr : public IMachMgr
       bool GetOperationNewName( std::string& sName) const ;
       const ToolData* GetMachiningToolData( void) const ;
      // Simulation
-      bool SimAddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
+      bool SimAddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
+                               const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) ;
+      bool SimRemoveCollisionObj( int nFrameId) ;
+      bool SimGetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                               Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) const ;
       bool SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) ;
       bool SimOnCollision(  int nCdInd, int nObjInd, int& nErr) ;
-      bool SimSetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag, double dPar1, double dPar2,
-                               const INTVECTOR& vVmill, bool bFirst) ;
+      bool SimSetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,
+                               double dPar1, double dPar2, const INTVECTOR& vVmill, bool bFirst) ;
       bool SimEnableToolsForVmill( bool bEnable) ;
       int  SimMoveAxes( int nMoveType, const SAMVECTOR& vAxNaEpSt) ;
       bool SimSaveCmd( int nType, int nPar, const std::string& sPar, const std::string& sPar2) ;
diff --git a/MachMgrSimulation.cpp b/MachMgrSimulation.cpp
index 3ded32a..35e1cef 100644
--- a/MachMgrSimulation.cpp
+++ b/MachMgrSimulation.cpp
@@ -176,6 +176,29 @@ MachMgr::SimAddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, co
    return m_pSimul->AddCollisionObj( nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
 }
 
+//----------------------------------------------------------------------------
+bool
+MachMgr::SimRemoveCollisionObj( int nFrameId)
+{
+  // verifico simulatore
+   if ( m_pSimul == nullptr)
+      return false ;
+  // rimuovo gli oggetti da verificare per la collisione con il grezzo con FrameId indicato
+   return m_pSimul->RemoveCollisionObj( nFrameId) ;
+}
+
+//----------------------------------------------------------------------------
+bool
+MachMgr::SimGetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                             Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) const
+{
+  // verifico simulatore
+   if ( m_pSimul == nullptr)
+      return false ;
+  // recupero i dati dell'oggetto di collisione di posizione indicata nel relativo vettore
+   return m_pSimul->GetCollisionObj( nPos, nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
+}
+
 //----------------------------------------------------------------------------
 bool
 MachMgr::SimExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType)
diff --git a/Machine.h b/Machine.h
index 5fbc446..f8f89a1 100644
--- a/Machine.h
+++ b/Machine.h
@@ -402,6 +402,8 @@ class Machine
       static int LuaEmtSetWarning( lua_State* L) ;
       static int LuaEmtAddCollisionObj( lua_State* L) ;
       static int LuaEmtAddCollisionObjEx( lua_State* L) ;
+      static int LuaEmtRemoveCollisionObj( lua_State* L) ;
+      static int LuaEmtGetCollisionObj( lua_State* L) ;
       static int LuaEmtExecCollisionCheck( lua_State* L) ;
       static int LuaEmtOnCollision( lua_State* L) ;
       static int LuaEmtSetToolForVmill( lua_State* L) ;
diff --git a/MachineLua.cpp b/MachineLua.cpp
index 63edcc0..ba6c000 100644
--- a/MachineLua.cpp
+++ b/MachineLua.cpp
@@ -144,6 +144,10 @@ Machine::LuaInit( const string& sMachineName)
    m_LuaMgr.RegisterFunction( "EmtAddCollisionObj", Machine::LuaEmtAddCollisionObj) ;
   // registro la funzione estesa per aggiungere un oggetto da verificare per la collisione in simulazione
    m_LuaMgr.RegisterFunction( "EmtAddCollisionObjEx", Machine::LuaEmtAddCollisionObjEx) ;
+  // registro la funzione per rimuovere oggetti con dato FrameId da verificare per la collisione in simulazione
+   m_LuaMgr.RegisterFunction( "EmtRemoveCollisionObj", Machine::LuaEmtRemoveCollisionObj) ;
+  // registro la funzione per avere i dati dell'oggetto con posizione indicata nel vettore da verificare per la collisione in simulazione
+   m_LuaMgr.RegisterFunction( "EmtGetCollisionObj", Machine::LuaEmtGetCollisionObj) ;
   // registro la funzione di esecuzione della verifica di collisione in simulazione
    m_LuaMgr.RegisterFunction( "EmtExecCollisionCheck", Machine::LuaEmtExecCollisionCheck) ;
   // registro la funzione di gestione della collisione in simulazione
@@ -1428,6 +1432,65 @@ Machine::LuaEmtAddCollisionObjEx( lua_State* L)
    return 1 ;
 }
 
+//----------------------------------------------------------------------------
+int
+Machine::LuaEmtRemoveCollisionObj( lua_State* L)
+{
+  // 1 parametro : nFrameId 
+   int nFrameId ;
+   LuaCheckParam( L, 1, nFrameId)
+   LuaClearStack( L) ;
+  // verifico ci sia una macchina attiva
+   if ( m_pMchLua == nullptr)
+      return luaL_error( L, " Unknown Machine") ;
+  // assegno i dati
+   bool bOk = ( m_pMchLua->m_pMchMgr != nullptr && m_pMchLua->m_pMchMgr->SimRemoveCollisionObj( nFrameId)) ;
+  // assegno risultato
+   LuaSetParam( L, bOk) ;
+   return 1 ;
+}
+
+//----------------------------------------------------------------------------
+int
+Machine::LuaEmtGetCollisionObj( lua_State* L)
+{
+  // 1 parametro : nPos 
+   int nPos ;
+   LuaCheckParam( L, 1, nPos)
+   LuaClearStack( L) ;
+  // verifico ci sia una macchina attiva
+   if ( m_pMchLua == nullptr)
+      return luaL_error( L, " Unknown Machine") ;
+  // recupero i dati
+   int nInd ;
+   bool bToolOn ;
+   int nFrameId ;
+   int nType ;
+   Vector3d vtMove ;
+   double dPar1 ;
+   double dPar2 ;
+   double dPar3 ;
+   bool bOk = ( m_pMchLua->m_pMchMgr != nullptr  &&
+                m_pMchLua->m_pMchMgr->SimGetCollisionObj( nPos, nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3)) ;
+  // assegno risultato
+   if ( bOk) {
+      LuaSetParam( L, true) ;
+      LuaSetParam( L, nInd) ;
+      LuaSetParam( L, bToolOn) ;
+      LuaSetParam( L, nFrameId) ;
+      LuaSetParam( L, nType) ;
+      LuaSetParam( L, vtMove) ;
+      LuaSetParam( L, dPar1) ;
+      LuaSetParam( L, dPar2) ;
+      LuaSetParam( L, dPar3) ;
+      return 9 ;  
+   }
+   else {
+      LuaSetParam( L, false) ;
+      return 1 ;
+   }
+}
+
 //----------------------------------------------------------------------------
 int
 Machine::LuaEmtExecCollisionCheck( lua_State* L)
diff --git a/Simulator.h b/Simulator.h
index 7c2ba80..2ce446d 100644
--- a/Simulator.h
+++ b/Simulator.h
@@ -53,6 +53,9 @@ class __declspec( novtable) ISimulator
       virtual bool GetMoveInfo( int& nGmove, double& dFeed) const = 0 ;
       virtual bool AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
                                     const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) = 0 ;
+      virtual bool RemoveCollisionObj( int nFrameId) = 0 ;
+      virtual bool GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                                    Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) = 0 ;
       virtual bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) = 0 ;
       virtual bool OnCollision( int nCdInd, int nObjInd, int& nErr) = 0 ;
       virtual bool SetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,
diff --git a/SimulatorMP.cpp b/SimulatorMP.cpp
index 199e4c8..2bcb705 100644
--- a/SimulatorMP.cpp
+++ b/SimulatorMP.cpp
@@ -2336,6 +2336,34 @@ SimulatorMP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, c
    return true ;
 }
 
+//----------------------------------------------------------------------------
+bool
+SimulatorMP::RemoveCollisionObj( int nFrameId)
+{
+   erase_if( m_CollObj, [nFrameId]( CollObj Item) { return ( Item.nFrameId == nFrameId) ; }) ;
+   return true ;
+}
+
+//----------------------------------------------------------------------------
+bool
+SimulatorMP::GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                              Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3)
+{
+  // posizione nel vettore non valida
+   if ( nPos < 0  ||  nPos >= ssize( m_CollObj))
+      return false ;
+  // assegno i dati
+   nInd = m_CollObj[nPos].nInd ;
+   bToolOn = m_CollObj[nPos].bToolOn ;
+   nFrameId = m_CollObj[nPos].nFrameId ;
+   nType = m_CollObj[nPos].nType ;
+   vtMove = m_CollObj[nPos].vtMove ;
+   dPar1 = m_CollObj[nPos].dPar1 ;
+   dPar2 = m_CollObj[nPos].dPar2 ;
+   dPar3 = m_CollObj[nPos].dPar3 ;
+   return true ;
+}
+
 //----------------------------------------------------------------------------
 bool
 SimulatorMP::SetToolForVmill( const string& sTool, const string& sHead, int nExit, int nFlag, double dPar1, double dPar2,
diff --git a/SimulatorMP.h b/SimulatorMP.h
index afb1f83..9635854 100644
--- a/SimulatorMP.h
+++ b/SimulatorMP.h
@@ -40,6 +40,9 @@ class SimulatorMP : public ISimulator
       bool GetMoveInfo( int& nGmove, double& dFeed) const override ;
       bool AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
                             const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) override ;
+      bool RemoveCollisionObj( int nFrameId) override ;
+      bool GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                            Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) override ;
       bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) override ;
       bool OnCollision( int nCdInd, int nObjInd, int& nErr) override ;
       bool SetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,
diff --git a/SimulatorSP.cpp b/SimulatorSP.cpp
index f2e1e92..f3572fc 100644
--- a/SimulatorSP.cpp
+++ b/SimulatorSP.cpp
@@ -2343,7 +2343,8 @@ SimulatorSP::OnResetMachine( void)
 
 //----------------------------------------------------------------------------
 bool
-SimulatorSP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
+SimulatorSP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
+                              const Vector3d& vtMove, double dPar1, double dPar2, double dPar3)
 {
   // verifiche sui parametri
    if ( nInd <= 0  ||  nFrameId <= GDB_ID_NULL)
@@ -2374,6 +2375,35 @@ SimulatorSP::AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType, c
    }
   // aggiungo al vettore
    m_CollObj.emplace_back( nInd, bToolOn, nFrameId, nType, vtMove, dPar1, dPar2, dPar3) ;
+
+   return true ;
+}
+
+//----------------------------------------------------------------------------
+bool
+SimulatorSP::RemoveCollisionObj( int nFrameId)
+{
+   erase_if( m_CollObj, [nFrameId]( CollObj Item) { return ( Item.nFrameId == nFrameId) ; }) ;
+   return true ;
+}
+
+//----------------------------------------------------------------------------
+bool
+SimulatorSP::GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                              Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3)
+{
+  // posizione nel vettore non valida
+   if ( nPos < 0  ||  nPos >= ssize( m_CollObj))
+      return false ;
+  // assegno i dati
+   nInd = m_CollObj[nPos].nInd ;
+   bToolOn = m_CollObj[nPos].bToolOn ;
+   nFrameId = m_CollObj[nPos].nFrameId ;
+   nType = m_CollObj[nPos].nType ;
+   vtMove = m_CollObj[nPos].vtMove ;
+   dPar1 = m_CollObj[nPos].dPar1 ;
+   dPar2 = m_CollObj[nPos].dPar2 ;
+   dPar3 = m_CollObj[nPos].dPar3 ;
    return true ;
 }
 
diff --git a/SimulatorSP.h b/SimulatorSP.h
index 983c3f6..ae54298 100644
--- a/SimulatorSP.h
+++ b/SimulatorSP.h
@@ -40,6 +40,9 @@ class SimulatorSP : public ISimulator
       bool GetMoveInfo( int& nGmove, double& dFeed) const override ;
       bool AddCollisionObj( int nInd, bool bToolOn, int nFrameId, int nType,
                             const Vector3d& vtMove, double dPar1, double dPar2, double dPar3) override ;
+      bool RemoveCollisionObj( int nFrameId) override ;
+      bool GetCollisionObj( int nPos, int& nInd, bool& bToolOn, int& nFrameId, int& nType,
+                            Vector3d& vtMove, double& dPar1, double& dPar2, double& dPar3) override ;
       bool ExecCollisionCheck( int& nCdInd, int& nObjInd, int nMoveType) override ;
       bool OnCollision( int nCdInd, int nObjInd, int& nErr) override ;
       bool SetToolForVmill( const std::string& sTool, const std::string& sHead, int nExit, int nFlag,