The new DSL addBadge() allow to create a new badge directly from the pipeline.

How to remove it later on ? In our workflow, there are several pauses waiting for user input, and at each stage we are displaying a different icons (removing previous one and adding a different one).

Here a workaround:

def removeBadges(RunWrapper build, String icon = null) {
 List<Action> actions = build.getRawBuild().getActions()
 List<BuildBadgeAction> badgeActions = build.getRawBuild().getActions(BuildBadgeAction.class)
 for(BuildBadgeAction action : badgeActions) {
  if (icon == null || action.iconPath == icon) {
   actions.remove(action)
  }
 }
}

Would need a removeBadge(icon) and removeAllBadges() methods to do it directly in the pipeline.