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I'm new to webots and want to design simulation using PUMA560. In there I need to change the gripper shapes and size. But when I replace the existing gripper with a new solid box shape, suddenly everything went disappear. How can I edit the proto file?

I tried updating the gripper slot by using the Pioneer3 gripper. but still, the previous gripper exist. How can I remove it and combine the existing controller to the new gripper?

Shanaka Ramesh
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As a first step I would recommend to un-prototize the robot to edit it, this way it will be much simpler to edit the robot definition directly using the GUI of Webots in the scene-tree.

To un-prototize a robot in Webots you simply have to right click on the node and then select 'Convert to Base Node(s)'.

Once you are happy with the result of the non-proto version you can try to migrate your changes to the PROTO file, here is a tutorial explaining how to create a PROTO file: https://cyberbotics.com/doc/guide/tutorial-7-your-first-proto

David Mansolino
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