I have updated the ODESimulator class to provide a function to delete rigid objects from the simulation.

void ODESimulator::RemoveObject(ODERigidObject* object)
{
  for ( size_t i=0; i<objects.size(); ++i )
  {
    if ( object == objects[i] )
    {
      objects.erase(objects.begin()+i);
      delete object;
      break;
    }
  }
}

One also has to delete the RigidObject from the RobotWorld object by calling RobotWorld::DeleteRigidObject().

A functional deletion procedure could then look like this:

void disposeRigidObject(ODERigidObject* object)
{
	world_->DeleteRigidObject(object->obj.name);  // RobotWorld* world_
	simulation_->odesim.RemoveObject(object);     // WorldSimulation* simulation_
	simulation_->UpdateModel();
}

I wonder tho if this is safe to do?