Question #688818 on Yade changed:
https://answers.launchpad.net/yade/+question/688818

Jan Stránský proposed the following answer:
> Have I to define a function ...

exactly

> How can i destroy the old cylinder?

for i in rullo:
   O.bodies.erase(i) # [1]

> And once i generate the new cylinder, do I have to update the
translational and rotational engine in order to fit the new roller or
can i simply name it as the previous one so that the engine works
automaticalluy?

you can name is the same, but you have to update rotEngine.ids and 
transEngine.ids
Depending on specific realization, you might also need to update the function 
computing new zeroPoint

cheers
Jan

[1] https://yade-
dem.org/doc/yade.wrapper.html#yade.wrapper.BodyContainer.erase

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