Is it possible to add/remove parts during programming interactions?

It is clear that during the programming routine you can interact with the robot by grabbing in it and placing it back to a starting position before sending it to do another task. Is it legal during one of those interactions to modify the robot by adding or removing parts that DO NOT affect the size constraints of the robot. For example, adding weight to avoid tipping over or removing weight to get more speed and or torque?

No, this is not permitted.